diff --git a/sensing/slam/laser_slam/script/laser_transfer.py b/sensing/slam/laser_slam/script/laser_transfer.py
index 0e239c5..5b46dfd 100755
--- a/sensing/slam/laser_slam/script/laser_transfer.py
+++ b/sensing/slam/laser_slam/script/laser_transfer.py
@@ -24,13 +24,13 @@ def odm_aloam_callback(msg):
     local_pose.header.stamp = msg.header.stamp
     local_pose.pose = msg.pose.pose
 
-def callback(data):
+def laser_scan_matcher_callback(data):
     global laser_scan
     laser_scan = data
     
 def laser_scan_matcher():
     global local_pose
-    pose2d_sub = rospy.Subscriber(vehicle_type+'_'+ vehicle_id+"/pose2D", Pose2D, callback)
+    pose2d_sub = rospy.Subscriber(vehicle_type+'_'+ vehicle_id+"/pose2D", Pose2D, laser_scan_matcher_callback)
     rate = rospy.Rate(100)
     while True:
         local_pose.header.stamp = rospy.Time.now()
diff --git a/sensing/slam/vio/vins_transfer.py b/sensing/slam/vio/vins_transfer.py
index e096e89..bcc122c 100755
--- a/sensing/slam/vio/vins_transfer.py
+++ b/sensing/slam/vio/vins_transfer.py
@@ -12,9 +12,7 @@ local_pose.header.frame_id = 'map'
 quaternion = tf.transformations.quaternion_from_euler(0, -math.pi/2, math.pi/2)
 q = Quaternion([quaternion[3],quaternion[0],quaternion[1],quaternion[2]])
 
-def vins_callback(data):
-    #rospy.loginfo(str(data.pose.position.x)+','+str(data.pose.position.y)+','+str(data.pose.position.z))
-    
+def vins_callback(data):    
     local_pose.pose.position.x = data.pose.pose.position.x
     local_pose.pose.position.y = data.pose.pose.position.y
     local_pose.pose.position.z = data.pose.pose.position.z