 *******************************************************************************/
 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;
   odom_tf.transform.translation.y = odom.pose.pose.position.y;
   odom_tf.transform.translation.z = odom.pose.pose.position.z;
-  odom_tf.transform.rotation = odom.pose.pose.orientation;
+  odom_tf.transform.rotation      = odom.pose.pose.orientation;
 }
 
 /*******************************************************************************

  tfs_msg.header.stamp    = rosNow();
  tfs_msg.header.frame_id = "base_link";
  tfs_msg.child_frame_id  = "imu_link";
  tfs_msg.transform.rotation.w = imu.quat[0];
  tfs_msg.transform.rotation.x = imu.quat[1];
  tfs_msg.transform.rotation.y = imu.quat[2];
  tfs_msg.transform.rotation.z = imu.quat[3];

  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);
}

  odom_vel[1] = 0.0;
  odom_vel[2] = w;

  odom.header.frame_id = "odom";
  odom.child_frame_id  = "base_link";

  odom.pose.pose.position.x = odom_pose[0];
  odom.pose.pose.position.y = odom_pose[1];
  odom.pose.pose.position.z = 0;
