diff --git a/vortex_utility_nodes/README.md b/vortex_utility_nodes/README.md
index 3700267..c5c8252 100644
--- a/vortex_utility_nodes/README.md
+++ b/vortex_utility_nodes/README.md
@@ -7,7 +7,7 @@ These are standalone helper nodes not core pipeline components. Use them to insp
 
 | Node | Description |
 |------|-------------|
-| `euler_odometry_publisher_node` | Subscribes to `odometry` (resolved from config) and publishes odometry pose in Euler angles (roll, pitch, yaw). |
+| `message_publisher` | Subscribes to `odometry` (resolved from config) and publishes odometry pose in Euler angles (x, y, z, roll, pitch, yaw). |
 
 ## Build
 ```bash
@@ -17,7 +17,7 @@ source install/setup.bash
 
 ## Run
 ```bash
-ros2 launch vortex_utility_nodes euler_odometry_publisher_node.launch.py
+ros2 launch vortex_utility_nodes message_publisher.launch.py
 ```
 
 ## Adding New Nodes
diff --git a/vortex_utility_nodes/src/message_publisher.cpp b/vortex_utility_nodes/src/message_publisher.cpp
index 23b7f95..fb30613 100644
--- a/vortex_utility_nodes/src/message_publisher.cpp
+++ b/vortex_utility_nodes/src/message_publisher.cpp
@@ -169,7 +169,7 @@ class MessagePublisherNode : public rclcpp::Node {
     void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg) {
         const auto& q = msg->orientation;
         auto euler = convert_quat(q.w, q.x, q.y, q.z);
-        publish_rpy(msg->header, euler);
+        publish_pose(msg->header, 0.0, 0.0, 0.0, euler);
     }
 
     using SubVariant = std::variant<