diff --git a/base-move-demo.py b/base-move-demo.py
index aefa9cb..c3ae9b0 100644
--- a/base-move-demo.py
+++ b/base-move-demo.py
@@ -101,10 +101,10 @@ class Robot_Ctrl(object):
             self.mode_ok = self.rec_msg.mode
         else:
             self.mode_ok = 0
-        if self.timestamp % 100 == 0 or self.rec_msg_last_mode_id != self.rec_msg.mode_id:
+        if self.timestamp % 100 == 0 or self.rec_msg_last_mode_id != self.rec_msg.mode:
             print("[rec_msg]", self.rec_msg.mode, self.rec_msg.gait_id, self.rec_msg.contact, self.rec_msg.order_process_bar, self.rec_msg.switch_status, self.rec_msg.ori_error, self.rec_msg.footpos_error, self.rec_msg.motor_error)
             self.timestamp = 0
-            self.rec_msg_last_mode_id = self.rec_msg.mode_id
+            self.rec_msg_last_mode_id = self.rec_msg.mode
         self.timestamp += 1
 
     def msg_handler_o(self, channel, data):
@@ -120,7 +120,7 @@ class Robot_Ctrl(object):
             self.odo_msg.xyz[1] - self.calibration_offset[1],
             self.odo_msg.xyz[2] - self.calibration_offset[2]
         ]
-        if self.odo_msg.timestamp % 100 == 0:
+        if self.odo_msg.timestamp % 200 == 0:
             print("[odo_msg]", self.odo_msg.xyz, self.odo_msg.rpy, self.odo_msg.vxyz, self.odo_msg.omegaBody, self.odo_msg.vBody)
 
     def odo_reset(self):
@@ -163,7 +163,7 @@ class Robot_Ctrl(object):
         self.cmd_msg = msg
         self.cmd_msg.life_count %= 127
         self.send_lock.release()
-        self.send_publish()
+        # self.send_publish()
 
     def place_marker(self, x, y, z, color, observe=False):
         return None