diff --git a/nodes/odom_publisher.cpp b/nodes/odom_publisher.cpp
index 3046e10..d8bc51d 100644
--- a/nodes/odom_publisher.cpp
+++ b/nodes/odom_publisher.cpp
@@ -10,51 +10,48 @@ void signal_handler(int signum) {
   flag = 1;
 }
 
-class OdomToBaseLinkPublisher {
-public:
-  OdomToBaseLinkPublisher() : nh_() {
-    // Subscribe to the /odom topic
-    odom_sub_ = nh_.subscribe("/odom", 10, &OdomToBaseLinkPublisher::odomCallback, this);
-  }
+void odomCallback(const nav_msgs::Odometry::ConstPtr& msg, tf::TransformBroadcaster& odom_broadcaster) {
+  // Create transform message
+  geometry_msgs::TransformStamped odom_trans;
+  odom_trans.header.stamp = msg->header.stamp;
+  odom_trans.header.frame_id = msg->header.frame_id;
+  odom_trans.child_frame_id = msg->child_frame_id;
 
-  void odomCallback(const nav_msgs::Odometry::ConstPtr& msg) {
-    // Prepare the transform message
-    geometry_msgs::TransformStamped odom_trans;
-    odom_trans.header.stamp = msg->header.stamp;
-    odom_trans.header.frame_id = msg->header.frame_id; // Should be "odom"
-    odom_trans.child_frame_id = msg->child_frame_id;   // Should be "base_link"
+  // Copy translation and rotation
+  odom_trans.transform.translation.x = msg->pose.pose.position.x;
+  odom_trans.transform.translation.y = msg->pose.pose.position.y;
+  odom_trans.transform.translation.z = msg->pose.pose.position.z;
+  odom_trans.transform.rotation = msg->pose.pose.orientation;
 
-    // Copy translation and rotation
-    odom_trans.transform.translation.x = msg->pose.pose.position.x;
-    odom_trans.transform.translation.y = msg->pose.pose.position.y;
-    odom_trans.transform.translation.z = msg->pose.pose.position.z;
-    odom_trans.transform.rotation = msg->pose.pose.orientation;
-
-    // Publish the transform
-    odom_broadcaster_.sendTransform(odom_trans);
-  }
-
-private:
-  ros::NodeHandle nh_;
-  ros::Subscriber odom_sub_;
-  tf::TransformBroadcaster odom_broadcaster_;
-};
+  // Publish the transform
+  odom_broadcaster.sendTransform(odom_trans);
+}
 
 int main(int argc, char** argv) {
-  ros::init(argc, argv, "odom_to_base_link_publisher");
+  ros::init(argc, argv, "tf_broadcaster");
+  ros::NodeHandle nh;
 
   // Register the signal handler
   signal(SIGINT, signal_handler);
 
-  OdomToBaseLinkPublisher publisher;
+  // Create the transform broadcaster
+  tf::TransformBroadcaster odom_broadcaster;
 
-  ros::Rate r(50); // Set loop rate
+  // Subscribe to the /odom topic
+  ros::Subscriber odom_sub = nh.subscribe<nav_msgs::Odometry>(
+      "/odom", 10,
+      boost::bind(odomCallback, _1, boost::ref(odom_broadcaster)));
+
+  ROS_INFO("TF broadcaster node running...");
+
+  // Spin until the node is stopped
+  ros::Rate rate(10.0); // Adjust rate if necessary
   while (ros::ok() && !flag) {
-    ros::spinOnce(); // Handle callbacks
-    r.sleep();
+    ros::spinOnce();
+    rate.sleep();
   }
 
-  ROS_INFO("Odometry to base_link transform node shutting down.");
+  ROS_INFO("TF broadcaster node shutting down.");
   ros::shutdown();
   return 0;
 }