diff --git a/launch/gazebo.launch b/launch/gazebo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..9b2ca58690ccb7254d28187b278d82ee4fe00ca1
--- /dev/null
+++ b/launch/gazebo.launch
@@ -0,0 +1,4 @@
+<launch>
+    <include file="$(find sensors_gazebo)/launch/boxes.launch" />
+    <node name="navsat_to_odom" pkg="navsat_to_odom" type="navsat_to_odom_node" output="screen" />
+</launch>
\ No newline at end of file
diff --git a/src/navsat_to_odom.cpp b/src/navsat_to_odom.cpp
index 456cffcbaa393c8cd77108e86f19b7b66fb33591..182fda513b24d61b6e8dcc7ed96eb761cfdb9c6b 100644
--- a/src/navsat_to_odom.cpp
+++ b/src/navsat_to_odom.cpp
@@ -15,13 +15,11 @@ public:
   NavsatToOdom(ros::NodeHandle n) :
     n_(n),
     is_enu_initialized_(false),
-    course_(0),
-    tf_listener_(tf_buffer_)
+    course_(0)
   {
     sub_fix_ = n_.subscribe("navsat/fix", 10, &NavsatToOdom::fixCallback, this);
     sub_vel_ = n_.subscribe("navsat/vel", 10, &NavsatToOdom::velCallback, this);
     sub_vel_simul_ = n_.subscribe("navsat/vel_simul", 10, &NavsatToOdom::velSimulCallback, this);
-    pub_odom_ = n_.advertise<nav_msgs::Odometry>("navsat/odom", 1);
 
     transform_stamped_.header.frame_id = "odom";
     transform_stamped_.child_frame_id = "base_footprint";
@@ -39,25 +37,6 @@ public:
       }
       double east, north, up;
       enu_.Forward(fix->latitude, fix->longitude, 0.0, east, north, up);
-
-      nav_msgs::Odometry odom;
-      odom.header.stamp = ros::Time::now();
-      odom.header.frame_id = "odom";
-      odom.pose.pose.position.x = east;
-      odom.pose.pose.position.y = north;
-      odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(course_);
-      pub_odom_.publish(odom);
-
-      /* try{
-        transform_stamped_ = tf_buffer_.lookupTransform("navsat_link", "base_footprint", ros::Time(0));
-      }
-      catch (tf2::TransformException &ex) {
-        ROS_WARN("%s",ex.what());
-      }
-      geometry_msgs::Pose pose_out;
-      tf2::doTransform(odom.pose.pose, pose_out, transform_stamped_);
-      ROS_INFO_STREAM("pose out x "<< pose_out.position.x<< " y "<< pose_out.position.y); */
-
       
       transform_stamped_.header.stamp = ros::Time::now();
       transform_stamped_.transform.translation.x = east;
@@ -89,14 +68,11 @@ public:
 private:
   ros::NodeHandle n_;
   ros::Subscriber sub_fix_, sub_vel_, sub_vel_simul_;
-  ros::Publisher pub_odom_;
 
   GeographicLib::LocalCartesian enu_;
   std::atomic<bool> is_enu_initialized_;
   double course_;
 
-  tf2_ros::Buffer tf_buffer_;
-  tf2_ros::TransformListener tf_listener_;
   tf2_ros::TransformBroadcaster br_;
   geometry_msgs::TransformStamped transform_stamped_;
 };