diff --git a/.gitignore b/.gitignore
index 35d74bb..b40f725 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+.vscode/
 devel/
 logs/
 build/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e526d5a..46f8812 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,8 +25,6 @@ find_package(nav_msgs)
 find_package(rclcpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(tf2_msgs REQUIRED)
-find_package(tf2_ros REQUIRED)
 
 set(msg_files
   "msg/RoboClawStatus.msg"
@@ -37,10 +35,10 @@ set(srv_files
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/RoboClawStatus.msg"
-  "srv/ResetEncoders.srv"
-  DEPENDENCIES builtin_interfaces std_msgs
- )
+  ${msg_files}
+  ${srv_files}
+#  DEPENDENCIES builtin_interfaces std_msgs
+)
 
 add_executable(
   ros2_roboclaw_driver_node 
@@ -55,8 +53,6 @@ ament_target_dependencies(
   geometry_msgs
   nav_msgs
   std_msgs
-  tf2_msgs
-  tf2_ros
 )
 
 rosidl_target_interfaces(
diff --git a/package.xml b/package.xml
index 443b332..80bfffa 100755
--- a/package.xml
+++ b/package.xml
@@ -15,8 +15,6 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tf2_msgs</depend>
-  <depend>tf2_ros</depend>
 
   <build_depend>rosidl_default_generators</build_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/src/motor_driver.cpp b/src/motor_driver.cpp
index 35ea419..514ec2f 100755
--- a/src/motor_driver.cpp
+++ b/src/motor_driver.cpp
@@ -1,21 +1,23 @@
 
+#include "motor_driver.h"
+
+#include <math.h>
+#include <rcutils/logging_macros.h>
+#include <stdint.h>
+
 #include <algorithm>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
-#include <math.h>
-#include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <rcutils/logging_macros.h>
 #include <string>
-#include <stdint.h>
-#include <tf2_ros/transform_broadcaster.h>
 
-#include "motor_driver.h"
 #include "roboclaw.h"
 
 MotorDriver::MotorDriver()
-    : Node("motor_driver_node"), device_name_("foo_bar"), wheel_radius_(0.10169), wheel_separation_(0.345)
-{
+    : Node("motor_driver_node"),
+      device_name_("foo_bar"),
+      wheel_radius_(0.10169),
+      wheel_separation_(0.345) {
   this->declare_parameter<int>("accel_quad_pulses_per_second", 600);
   this->declare_parameter<std::string>("device_name", "roboclaw");
   this->declare_parameter<int>("device_port", 123);
@@ -40,50 +42,40 @@ MotorDriver::MotorDriver()
   this->declare_parameter<float>("wheel_separation", 0.0);
 }
 
-void MotorDriver::odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
-{
-
-  geometry_msgs::msg::TransformStamped transformStamped;
-  transformStamped.header.stamp = rclcpp::Node::now();
-  transformStamped.header.frame_id = "odom";
-  transformStamped.child_frame_id = "t265";
-  transformStamped.transform.translation.x = msg->pose.pose.position.x;
-  transformStamped.transform.translation.y = msg->pose.pose.position.y;
-  transformStamped.transform.translation.z = 0.0;
-  transformStamped.transform.rotation.x = 0.0;
-  transformStamped.transform.rotation.y = 0.0;
-  transformStamped.transform.rotation.z = msg->pose.pose.orientation.z;
-  transformStamped.transform.rotation.w = msg->pose.pose.orientation.w;
-  broadcaster_->sendTransform(transformStamped);
-  // RCUTILS_LOG_INFO("odom published");
-}
-
-void MotorDriver::cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg) const
-{
-  double x_velocity = std::min(std::max((float) msg->linear.x, -max_linear_velocity_), max_linear_velocity_);
-  double yaw_velocity = std::min(std::max((float) msg->angular.z, -max_angular_velocity_), max_angular_velocity_);
-  if ((msg->linear.x == 0) && (msg->angular.z == 0))
-  {
+void MotorDriver::cmdVelCallback(
+    const geometry_msgs::msg::Twist::SharedPtr msg) const {
+  double x_velocity =
+      std::min(std::max((float)msg->linear.x, -max_linear_velocity_),
+               max_linear_velocity_);
+  double yaw_velocity =
+      std::min(std::max((float)msg->angular.z, -max_angular_velocity_),
+               max_angular_velocity_);
+  if ((msg->linear.x == 0) && (msg->angular.z == 0)) {
     roboclaw_->doMixedSpeedDist(0, 0, 0, 0);
-  }
-  else if ((fabs(x_velocity) > 0.01) || (fabs(yaw_velocity) > 0.01))
-  {
-    const double m1_desired_velocity = x_velocity - (yaw_velocity * wheel_separation_ / 2.0) / wheel_radius_;
-    const double m2_desired_velocity = x_velocity + (yaw_velocity * wheel_separation_ / 2.0) / wheel_radius_;
+  } else if ((fabs(x_velocity) > 0.01) || (fabs(yaw_velocity) > 0.01)) {
+    const double m1_desired_velocity =
+        x_velocity - (yaw_velocity * wheel_separation_ / 2.0) / wheel_radius_;
+    const double m2_desired_velocity =
+        x_velocity + (yaw_velocity * wheel_separation_ / 2.0) / wheel_radius_;
 
-    const int32_t m1_quad_pulses_per_second = m1_desired_velocity * quad_pulses_per_meter_;
-    const int32_t m2_quad_pulses_per_second = m2_desired_velocity * quad_pulses_per_meter_;
-    const int32_t m1_max_distance = fabs(m1_quad_pulses_per_second * max_seconds_uncommanded_travel_);
-    const int32_t m2_max_distance = fabs(m2_quad_pulses_per_second * max_seconds_uncommanded_travel_);
-    roboclaw_->doMixedSpeedAccelDist(accel_quad_pulses_per_second_, m1_quad_pulses_per_second, m1_max_distance, m2_quad_pulses_per_second, m2_max_distance);
+    const int32_t m1_quad_pulses_per_second =
+        m1_desired_velocity * quad_pulses_per_meter_;
+    const int32_t m2_quad_pulses_per_second =
+        m2_desired_velocity * quad_pulses_per_meter_;
+    const int32_t m1_max_distance =
+        fabs(m1_quad_pulses_per_second * max_seconds_uncommanded_travel_);
+    const int32_t m2_max_distance =
+        fabs(m2_quad_pulses_per_second * max_seconds_uncommanded_travel_);
+    roboclaw_->doMixedSpeedAccelDist(
+        accel_quad_pulses_per_second_, m1_quad_pulses_per_second,
+        m1_max_distance, m2_quad_pulses_per_second, m2_max_distance);
   }
 }
 
-void MotorDriver::onInit(rclcpp::Node::SharedPtr node)
-{
+void MotorDriver::onInit(rclcpp::Node::SharedPtr node) {
   node_ = node;
-  broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
-  this->get_parameter("accel_quad_pulses_per_second", accel_quad_pulses_per_second_);
+  this->get_parameter("accel_quad_pulses_per_second",
+                      accel_quad_pulses_per_second_);
   this->get_parameter("device_name", device_name_);
   this->get_parameter("device_port", device_port_);
   this->get_parameter("m1_p", m1_p_);
@@ -99,15 +91,18 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node)
   max_angular_velocity_ = -12.34;
   this->get_parameter("max_angular_velocity", max_angular_velocity_);
   this->get_parameter("max_linear_velocity", max_linear_velocity_);
-  this->get_parameter("max_seconds_uncommanded_travel", max_seconds_uncommanded_travel_);
+  this->get_parameter("max_seconds_uncommanded_travel",
+                      max_seconds_uncommanded_travel_);
   this->get_parameter("quad_pulses_per_meter", quad_pulses_per_meter_);
-  this->get_parameter("quad_pulses_per_revolution", quad_pulses_per_revolution_);
+  this->get_parameter("quad_pulses_per_revolution",
+                      quad_pulses_per_revolution_);
   this->get_parameter("vmin", vmin_);
   this->get_parameter("vtime", vtime_);
   this->get_parameter("wheel_radius", wheel_radius_);
   this->get_parameter("wheel_separation", wheel_separation_);
 
-  RCUTILS_LOG_INFO("accel_quad_pulses_per_second: %d", accel_quad_pulses_per_second_);
+  RCUTILS_LOG_INFO("accel_quad_pulses_per_second: %d",
+                   accel_quad_pulses_per_second_);
   RCUTILS_LOG_INFO("device_name: %s", device_name_.c_str());
   RCUTILS_LOG_INFO("device_port: %d", device_port_);
   RCUTILS_LOG_INFO("m1_p: %f", m1_p_);
@@ -122,9 +117,11 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node)
   RCUTILS_LOG_INFO("m2_max_current: %f", m2_max_current_);
   RCUTILS_LOG_INFO("max_angular_velocity: %f", max_angular_velocity_);
   RCUTILS_LOG_INFO("max_linear_velocity: %f", max_linear_velocity_);
-  RCUTILS_LOG_INFO("max_seconds_uncommanded_travel: %f", max_seconds_uncommanded_travel_);
+  RCUTILS_LOG_INFO("max_seconds_uncommanded_travel: %f",
+                   max_seconds_uncommanded_travel_);
   RCUTILS_LOG_INFO("quad_pulses_per_meter: %d", quad_pulses_per_meter_);
-  RCUTILS_LOG_INFO("quad_pulses_per_revolution: %d", quad_pulses_per_revolution_);
+  RCUTILS_LOG_INFO("quad_pulses_per_revolution: %d",
+                   quad_pulses_per_revolution_);
   RCUTILS_LOG_INFO("vmin: %d", vmin_);
   RCUTILS_LOG_INFO("vtime: %d", vtime_);
   RCUTILS_LOG_INFO("wheel_radius: %f", wheel_radius_);
@@ -133,7 +130,8 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node)
   RoboClaw::TPIDQ m1Pid = {m1_p_, m1_i_, m1_d_, m1_qpps_, m1_max_current_};
   RoboClaw::TPIDQ m2Pid = {m2_p_, m2_i_, m2_d_, m2_qpps_, m2_max_current_};
 
-  roboclaw_ = new RoboClaw(m1Pid, m2Pid, m1_max_current_, m2_max_current_, device_name_.c_str(), device_port_, vmin_, vtime_);
+  roboclaw_ = new RoboClaw(m1Pid, m2Pid, m1_max_current_, m2_max_current_,
+                           device_name_.c_str(), device_port_, vmin_, vtime_);
   RCUTILS_LOG_INFO("Main battery: %f", roboclaw_->getMainBatteryLevel());
 
   rclcpp::QoS bestEffortQos(10);
@@ -142,15 +140,12 @@ void MotorDriver::onInit(rclcpp::Node::SharedPtr node)
   bestEffortQos.durability_volatile();
 
   cmdVelSub_ = node_->create_subscription<geometry_msgs::msg::Twist>(
-      "/cmd_vel", bestEffortQos, std::bind(&MotorDriver::cmdVelCallback, this, std::placeholders::_1));
-  odomSub_ = node->create_subscription<nav_msgs::msg::Odometry>(
-      "/odom", bestEffortQos, std::bind(&MotorDriver::odomCallback, this, std::placeholders::_1));
+      "/cmd_vel", bestEffortQos,
+      std::bind(&MotorDriver::cmdVelCallback, this, std::placeholders::_1));
 }
 
-MotorDriver &MotorDriver::singleton()
-{
-  if (!g_singleton)
-  {
+MotorDriver &MotorDriver::singleton() {
+  if (!g_singleton) {
     g_singleton = new MotorDriver();
   }
 
diff --git a/src/motor_driver.h b/src/motor_driver.h
index bf57eec..abca061 100755
--- a/src/motor_driver.h
+++ b/src/motor_driver.h
@@ -1,10 +1,8 @@
 #pragma once
 
 #include <stdint.h>
-#include <tf2_ros/transform_broadcaster.h>
 
 #include <geometry_msgs/msg/twist.hpp>
-#include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 
@@ -23,10 +21,7 @@ class MotorDriver : public rclcpp::Node {
 
   void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg) const;
 
-  void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg);
-
   uint32_t accel_quad_pulses_per_second_;
-  std::shared_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
   std::string device_name_;
   uint8_t device_port_;
   float m1_p_;
@@ -53,7 +48,6 @@ class MotorDriver : public rclcpp::Node {
   rclcpp::Node::SharedPtr node_;
 
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmdVelSub_;
-  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odomSub_;
 
   static MotorDriver *g_singleton;
 };
diff --git a/src/motor_driver_node.cpp b/src/motor_driver_node.cpp
index 231f640..4e4b8d5 100644
--- a/src/motor_driver_node.cpp
+++ b/src/motor_driver_node.cpp
@@ -8,7 +8,7 @@
 int main(int argc, char *argv[])
 {
   rclcpp::init(argc, argv);
-  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("ros2_roboclaw_driver");
+  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("ros2_roboclaw_driver_node");
   MotorDriver &motorDriver = MotorDriver::singleton();
   motorDriver.onInit(node);