   tfs_msg.transform.rotation.y = imu.quat[2];
   tfs_msg.transform.rotation.z = imu.quat[3];
 
-  tfs_msg.transform.translation.x = -0.032;
-  tfs_msg.transform.translation.y = 0.0;
-  tfs_msg.transform.translation.z = 0.058;
+  tfs_msg.transform.translation.x = IMU_POS_X;
+  tfs_msg.transform.translation.y = IMU_POS_Y;
+  tfs_msg.transform.translation.z = IMU_POS_Z;
 
   tfbroadcaster.sendTransform(tfs_msg);
 }

*******************************************************************************/
void setup()
{
  // Initialize ROS node handle, advertise and subscribe the topics
  nh.initNode();
  nh.getHardware()->setBaud(115200);

  nh.advertise(mag_pub);
  tfbroadcaster.init(nh);

  // Setting for Dynamixel motors
  motor_driver.init();

