diff --git a/devel/core_algorithm/fusion/src/fusion_node.cpp b/devel/core_algorithm/fusion/src/fusion_node.cpp
index 9764ede..e0dbe22 100644
--- a/devel/core_algorithm/fusion/src/fusion_node.cpp
+++ b/devel/core_algorithm/fusion/src/fusion_node.cpp
@@ -130,7 +130,7 @@ void FusionNode::initCallback(const geometry_msgs::msg::PoseWithCovariance & ini
 void FusionNode::localCallback(const nav_msgs::msg::Odometry & local_msg){
     rclcpp::Time stamp = local_msg.header.stamp;
 
-    this->prev_pred_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
+    this->prev_pred_time = stamp.nanoseconds()*1e-9;
 
     Eigen::Vector3d local_pose;
     double local_yaw = utils::qua2yaw(local_msg.pose.pose.orientation);
@@ -177,7 +177,7 @@ void FusionNode::globalCallback(const geometry_msgs::msg::PoseWithCovarianceStam
     if(if_align){
         rclcpp::Clock clock;
         rclcpp::Time stamp = clock.now();
-        double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
+        double corr_time = stamp.nanoseconds()*1e-9;
         double dt_align = corr_time-this->prev_pred_time;
 
         if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
@@ -232,7 +232,7 @@ void FusionNode::cbCameraCallback(const geometry_msgs::msg::PoseStamped & cbcam_
     if(if_align){
         rclcpp::Clock clock;
         rclcpp::Time stamp = clock.now();
-        double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
+        double corr_time = stamp.nanoseconds()*1e-9;
         double dt_align = corr_time-this->prev_pred_time;
 
         if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
@@ -287,7 +287,7 @@ void FusionNode::obCameraCallback(const geometry_msgs::msg::PoseStamped & obcam_
     if(if_align){
         rclcpp::Clock clock;
         rclcpp::Time stamp = clock.now();
-        double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
+        double corr_time = stamp.nanoseconds()*1e-9;
         double dt_align = corr_time-this->prev_pred_time;
 
         if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
diff --git a/devel/core_algorithm/local/wheel_inertial_odometry/include/wheel_inertial_odometry/wio_node.hpp b/devel/core_algorithm/local/wheel_inertial_odometry/include/wheel_inertial_odometry/wio_node.hpp
index 44ef358..beb5253 100644
--- a/devel/core_algorithm/local/wheel_inertial_odometry/include/wheel_inertial_odometry/wio_node.hpp
+++ b/devel/core_algorithm/local/wheel_inertial_odometry/include/wheel_inertial_odometry/wio_node.hpp
@@ -31,8 +31,6 @@ class WioNode : public rclcpp::Node{
     std::string robot_parent_frame;
     std::string robot_frame;
 
-    Eigen::Vector3d prev_wheel_pose;
-    Eigen::Vector3d d_position;
     Eigen::Vector3d local_pose;
     Eigen::Vector3d local_twist;
     Eigen::Matrix3d local_pose_cov;
diff --git a/devel/core_algorithm/local/wheel_inertial_odometry/src/wio_node.cpp b/devel/core_algorithm/local/wheel_inertial_odometry/src/wio_node.cpp
index d7d744a..f75a603 100644
--- a/devel/core_algorithm/local/wheel_inertial_odometry/src/wio_node.cpp
+++ b/devel/core_algorithm/local/wheel_inertial_odometry/src/wio_node.cpp
@@ -15,8 +15,6 @@ WioNode::WioNode() : Node("wio_node"){
     for(int i=0; i<3; i++) this->pose_cov_min[i] = 0;
     this->first_odom_cb = true;
     this->prev_odom_time = 0.0;
-    this->prev_wheel_pose.setZero();
-    this->d_position.setZero();
     this->local_pose.setZero();
     this->local_twist.setZero();
     this->local_pose_cov.setIdentity();
@@ -77,11 +75,10 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
 {
     rclcpp::Clock clock; 
     rclcpp::Time stamp = clock.now(); 
-    double odom_time = stamp.seconds() + stamp.nanoseconds() * 1e-9;
-
+    double odom_time = stamp.nanoseconds() * 1e-9;
+  
     if (this->first_odom_cb)
     {
-        this->prev_wheel_pose << wheel_msg.angular.x, wheel_msg.angular.y, 0.0;
         this->prev_odom_time = odom_time;
         this->first_odom_cb = false;
         return;
@@ -90,13 +87,6 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
     double dt = odom_time - this->prev_odom_time;
     this->prev_odom_time = odom_time;
 
-
-    this->d_position << wheel_msg.angular.x-this->prev_wheel_pose(0),
-                        wheel_msg.angular.y-this->prev_wheel_pose(1),
-                        0.0;
-
-    this->prev_wheel_pose << wheel_msg.angular.x, wheel_msg.angular.y, 0.0;
-
     this->local_twist(0) = wheel_msg.linear.x;
     this->local_twist(1) = wheel_msg.linear.y;
 
@@ -115,7 +105,7 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
 void WioNode::imuCallback(const sensor_msgs::msg::Imu & imu_msg)
 {
     rclcpp::Time stamp = imu_msg.header.stamp;
-    double time = stamp.seconds()+stamp.nanoseconds()*1e-9;
+    double time = stamp.nanoseconds()*1e-9;
 
     if(this->first_imu_cb){
         this->prev_imu_time = time;
@@ -126,18 +116,17 @@ void WioNode::imuCallback(const sensor_msgs::msg::Imu & imu_msg)
     double dt = time-this->prev_imu_time;
     this->prev_imu_time = time;
 
-
     this->local_twist(2) = imu_msg.angular_velocity.z;
 
     this->local_pose(2) = 
-        utils::angleNormalizing(this->local_pose(2)+0.5*this->local_twist(2)*dt);
+        utils::angleNormalizing(this->local_pose(2)+this->local_twist(2)*dt);
 
     Eigen::Matrix3d R;
     R << cos(this->local_pose(2)), -sin(this->local_pose(2)), 0.0,
          sin(this->local_pose(2)), cos(this->local_pose(2)), 0.0,
          0.0, 0.0, 0.0;
 
-    this->local_pose += R*this->d_position;
+    this->local_pose += R*this->local_twist*dt;
 
     // publish odometry
     pubLocalPose(stamp);