 void updateTF(geometry_msgs::TransformStamped& odom_tf)
 {
   odom.header.frame_id = "odom";
+  odom.child_frame_id = "base_link";
   odom_tf.header = odom.header;
   odom_tf.child_frame_id = "base_footprint";
   odom_tf.transform.translation.x = odom.pose.pose.position.x;





/*******************************************************************************
* Setup function


  int32_t current_tick;

  sensor_state_msg.stamp = ros_now();
  sensor_state_msg.battery = checkVoltage();

  dxl_comm_result = motor_driver.readEncoder(sensor_state_msg.left_encoder, sensor_state_msg.right_encoder);
