diff --git a/unitree_controller/src/servo.cpp b/unitree_controller/src/servo.cpp
index f1b5336..55b0c82 100644
--- a/unitree_controller/src/servo.cpp
+++ b/unitree_controller/src/servo.cpp
@@ -54,6 +54,15 @@ public:
         lowState.imu.quaternion[1] = msg.orientation.x;
         lowState.imu.quaternion[2] = msg.orientation.y;
         lowState.imu.quaternion[3] = msg.orientation.z;
+
+        lowState.imu.gyroscope[0] = msg.angular_velocity.x;
+        lowState.imu.gyroscope[1] = msg.angular_velocity.y;
+        lowState.imu.gyroscope[2] = msg.angular_velocity.z;
+        
+        lowState.imu.accelerometer[0] = msg.linear_acceleration.x;
+        lowState.imu.accelerometer[1] = msg.linear_acceleration.y;
+        lowState.imu.accelerometer[2] = msg.linear_acceleration.z;
+        
     }
 
     void FRhipCallback(const unitree_legged_msgs::MotorState& msg)
@@ -233,6 +242,7 @@ int main(int argc, char **argv)
         */
         lowState_pub.publish(lowState);
         sendServoCmd();
+
     }
     return 0;
 }
diff --git a/unitree_legged_msgs/msg/IMU.msg b/unitree_legged_msgs/msg/IMU.msg
index 625fc60..71c741a 100644
--- a/unitree_legged_msgs/msg/IMU.msg
+++ b/unitree_legged_msgs/msg/IMU.msg
@@ -1,5 +1,4 @@
 float32[4] quaternion
 float32[3] gyroscope
 float32[3] accelerometer
-float32[3] rpy
 int8 temperature
\ No newline at end of file
diff --git a/unitree_legged_real/include/convert.h b/unitree_legged_real/include/convert.h
index 578b7e8..87eded1 100644
--- a/unitree_legged_real/include/convert.h
+++ b/unitree_legged_real/include/convert.h
@@ -34,9 +34,9 @@ unitree_legged_msgs::IMU ToRos(UNITREE_LEGGED_SDK::IMU& lcm)
     ros.accelerometer[0] = lcm.accelerometer[0];
     ros.accelerometer[1] = lcm.accelerometer[1];
     ros.accelerometer[2] = lcm.accelerometer[2];
-    ros.rpy[0] = lcm.rpy[0];
-    ros.rpy[1] = lcm.rpy[1];
-    ros.rpy[2] = lcm.rpy[2];
+    // ros.rpy[0] = lcm.rpy[0];
+    // ros.rpy[1] = lcm.rpy[1];
+    // ros.rpy[2] = lcm.rpy[2];
     ros.temperature = lcm.temperature;
     return ros;
 }
@@ -53,9 +53,9 @@ unitree_legged_msgs::IMU ToRos(aliengo::IMU& lcm){
     ros.accelerometer[0] = lcm.acceleration[0];
     ros.accelerometer[1] = lcm.acceleration[1];
     ros.accelerometer[2] = lcm.acceleration[2];
-    ros.rpy[0] = lcm.rpy[0];
-    ros.rpy[1] = lcm.rpy[1];
-    ros.rpy[2] = lcm.rpy[2];
+    // ros.rpy[0] = lcm.rpy[0];
+    // ros.rpy[1] = lcm.rpy[1];
+    // ros.rpy[2] = lcm.rpy[2];
     ros.temperature = lcm.temp;
     return ros;
 }