diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 9ae8eafe0b0a486bffbda629cbd5b6a5b4992a06..dde834ae8a7ec3110aaa5fd2b151a2b44bdf5556 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -928,7 +928,9 @@ namespace hpp {
           }
           GraphPtr_t graph = Graph::create (graphName,
               ps->robot(), ps->problem());
-          graph->createNodeSelector ("nodeSelector");
+          graph->nodeSelector (
+              GuidedNodeSelector::create ("nodeSelector",
+              ps->roadmap ()));
           graph->maxIterations  (ps->maxIterations ());
           graph->errorThreshold (ps->errorThreshold ());