diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index fe1da82..47464f8 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -36,7 +36,7 @@
     end_ = seq->data().find(";", begin_);
     notice_ = seq->data().substr(begin_ + 7, end_ - begin_ - 7);
 
-    if (index <= 10000) {
+    if (index_ <= 10000) {
         // Command execution feedback
         begin_ = seq->data().find("feedback:", 0);
         end_ = seq->data().find(";", begin_);
@@ -47,10 +47,9 @@
                     << "Command execution failed with index = " << index_ << "."
                     << "\033[0m";
         std::cout << notice_ << std::endl;
-    } else if (index == 10001) {
+    } else if (index_ == 10001) {
         // Navigation feedback
         begin_ = seq->data().find("arrive:", 0);
-        begin_ = seq->data().find("arrive:", 0);
         end_ = seq->data().find(";", begin_);
         str_ = seq->data().substr(begin_ + 7, end_ - begin_ - 7);
         arrive_ = atoi(str_.c_str());