   odom_pose[1] = 0.0;
   odom_pose[2] = 0.0;
 
-  joint_states.header.frame_id = "base_footprint";
+  joint_states.header.frame_id = "base_link";
   joint_states.name            = joint_states_name;
 
-  joint_states.name_length     = 2;
-  joint_states.position_length = 2;
-  joint_states.velocity_length = 2;
-  joint_states.effort_length   = 2;
+  joint_states.name_length     = WHEEL_NUM;
+  joint_states.position_length = WHEEL_NUM;
+  joint_states.velocity_length = WHEEL_NUM;
+  joint_states.effort_length   = WHEEL_NUM;
 
   // Initialize Battery States
   battery_state_msg.current         = NAN;

{
  uint32_t sec, nsec;

  /*
   * the interpolation floors the current time
   * stamp for integrity of precision.
   */
  sec  = _micros / 1000000 + t.sec;
  nsec = _micros % 1000000 + 1000 * (t.nsec / 1000);
  if (nsec >= 1e9) {

geometry_msgs::Twist cmd_vel_rc100_msg;
ros::Publisher cmd_vel_rc100_pub("cmd_vel_rc100", &cmd_vel_rc100_msg);

// Odometry of Turtlebot3
nav_msgs::Odometry odom;
ros::Publisher odom_pub("odom", &odom);

// Joint(Dynamixel) state of Turtlebot3
sensor_msgs::JointState joint_states;
ros::Publisher joint_states_pub("joint_states", &joint_states);

// Battey state of Turtlebot3
sensor_msgs::BatteryState battery_state_msg;
ros::Publisher battery_state_pub("battery_state", &battery_state_msg);

// Magnetic field
sensor_msgs::MagneticField mag_msg;
ros::Publisher mag_pub("magnetic_field", &mag_msg);

