diff --git a/mars_ws/src/heartbeat/heartbeat/HeartbeatBase.py b/mars_ws/src/heartbeat/heartbeat/HeartbeatBase.py
index 3fc46f8..ad63266 100644
--- a/mars_ws/src/heartbeat/heartbeat/HeartbeatBase.py
+++ b/mars_ws/src/heartbeat/heartbeat/HeartbeatBase.py
@@ -44,7 +44,7 @@ def check_status(self):
         if (t - self.startup_time).nanoseconds / 1e9 < p.BASE_HEARTBEAT_WARMUP:
             return
         if (t - self.last_received).nanoseconds / 1e9 > p.BASE_WARNING_TOLERANCE:
-            self.get_logger().warn(p.BASE_WARNING_STRING)
+            self.get_logger().warn(p.BASE_WARNING_STRING, throttle_duration_sec=5)
 
 
 def main(args=None):
diff --git a/mars_ws/src/odometry/launch/estimation_launch.py b/mars_ws/src/odometry/launch/estimation_launch.py
index 66987f5..a05d6a5 100755
--- a/mars_ws/src/odometry/launch/estimation_launch.py
+++ b/mars_ws/src/odometry/launch/estimation_launch.py
@@ -55,6 +55,10 @@ def generate_launch_description():
             executable='imu_filter_madgwick_node',
             name='imu_filter_madgwick',
             output='screen',
+            remappings=[
+                ('imu/data', 'zed/imu/data'),
+                ('imuu/mag', 'zed/imu/mag')
+            ],
             parameters=[imu_config]
         ),
     ])
\ No newline at end of file
diff --git a/mars_ws/src/odometry/package.xml b/mars_ws/src/odometry/package.xml
index 2a95f42..5a00bed 100755
--- a/mars_ws/src/odometry/package.xml
+++ b/mars_ws/src/odometry/package.xml
@@ -27,7 +27,6 @@
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>ros2launch</exec_depend>
-  <exec_depend>robot_localization</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>