diff --git a/agv_pro_base/CMakeLists.txt b/agv_pro_base/CMakeLists.txt
index 1ed9c7e..16661fd 100644
--- a/agv_pro_base/CMakeLists.txt
+++ b/agv_pro_base/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -20,7 +21,10 @@ find_package(nav_msgs REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-add_executable(agv_pro_node src/agv_pro_node.cpp)
+add_executable(agv_pro_node 
+  src/agv_pro_node.cpp
+  src/agv_pro_ros.cpp
+)
 
 target_include_directories(agv_pro_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -32,7 +36,9 @@ ament_target_dependencies(agv_pro_node
   rclcpp
   tf2
   tf2_ros
+  tf2_geometry_msgs
   std_msgs
+  sensor_msgs
   geometry_msgs
   serial_driver
   nav_msgs
diff --git a/agv_pro_base/include/agv_pro_base/agv_pro_driver.h b/agv_pro_base/include/agv_pro_base/agv_pro_driver.h
index ccacd43..8502eee 100644
--- a/agv_pro_base/include/agv_pro_base/agv_pro_driver.h
+++ b/agv_pro_base/include/agv_pro_base/agv_pro_driver.h
@@ -11,26 +11,14 @@
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #define RECEIVE_DATA_SIZE 13         //The length of the data sent by the esp32
 #define SEND_DATA_SIZE    13         //The length of data sent by ROS to the esp32
 #define RETURN_COMMAND 0x25
 
-std::array<double, 36> odom_pose_covariance = {
-    {1e-9, 0, 0, 0, 0, 0,
-    0, 1e-3, 1e-9, 0, 0, 0,
-    0, 0, 1e6, 0, 0, 0,
-    0, 0, 0, 1e6, 0, 0,
-    0, 0, 0, 0, 1e6, 0,
-    0, 0, 0, 0, 0, 1e-9} };
-std::array<double, 36> odom_twist_covariance = {
-    {1e-9, 0, 0, 0, 0, 0,
-    0, 1e-3, 1e-9, 0, 0, 0,
-    0, 0, 1e6, 0, 0, 0,
-    0, 0, 0, 1e6, 0, 0,
-    0, 0, 0, 0, 1e6, 0,
-    0, 0, 0, 0, 0, 1e-9} };
+extern std::array<double, 36> odom_pose_covariance;
+extern std::array<double, 36> odom_twist_covariance;
 
 class AGV_PRO : public rclcpp::Node
 {
diff --git a/agv_pro_base/package.xml b/agv_pro_base/package.xml
index bad143a..986e49f 100644
--- a/agv_pro_base/package.xml
+++ b/agv_pro_base/package.xml
@@ -15,6 +15,7 @@
   <depend>serial_driver</depend>
   <depend>asio_cmake_module</depend>
   <depend>io_context</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/agv_pro_base/src/agv_pro_ros.cpp b/agv_pro_base/src/agv_pro_ros.cpp
index b798d8c..38819ad 100644
--- a/agv_pro_base/src/agv_pro_ros.cpp
+++ b/agv_pro_base/src/agv_pro_ros.cpp
@@ -1,5 +1,21 @@
 #include "agv_pro_base/agv_pro_driver.h"
 
+std::array<double, 36> odom_pose_covariance = {
+  {1e-9, 0, 0, 0, 0, 0,
+  0, 1e-3, 1e-9, 0, 0, 0,
+  0, 0, 1e6, 0, 0, 0,
+  0, 0, 0, 1e6, 0, 0,
+  0, 0, 0, 0, 1e6, 0,
+  0, 0, 0, 0, 0, 1e-9} };
+
+std::array<double, 36> odom_twist_covariance = {
+  {1e-9, 0, 0, 0, 0, 0,
+  0, 1e-3, 1e-9, 0, 0, 0,
+  0, 0, 1e6, 0, 0, 0,
+  0, 0, 0, 1e6, 0, 0,
+  0, 0, 0, 0, 1e6, 0,
+  0, 0, 0, 0, 0, 1e-9} };
+
 AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
 {
   this->declare_parameter<std::string>("port_name","/dev/ttyS0");
@@ -101,8 +117,8 @@ void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
 
   try
   {
-    size_t bytes_transmit_size = port->send(data_vec);
-
+    port->send(data_vec);
+    // size_t bytes_transmit_size = port->send(data_vec);
     // std::stringstream ss;
     // for (auto b : data_vec) {
     //   ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)