diff --git a/mg_odometry/src/mg_odom_publisher.cpp b/mg_odometry/src/mg_odom_publisher.cpp
index a811740..e6504e3 100644
--- a/mg_odometry/src/mg_odom_publisher.cpp
+++ b/mg_odometry/src/mg_odom_publisher.cpp
@@ -5,7 +5,7 @@
 #include <libserial/SerialStream.h>
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
-#include "tf2_ros/static_transform_broadcaster.h"
+#include "tf2_ros/transform_broadcaster.h"
 
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/LinearMath/Transform.hpp"
@@ -25,16 +25,16 @@ class MgOdomPublisher : public rclcpp::Node {
         this->declare_parameter("target", "base-link");
         this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
 
-        tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
+        tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
 
         timer_ = this->create_wall_timer(std::chrono::milliseconds(TIMEOUT),
                                          std::bind(&MgOdomPublisher::timer_callback, this));
     }
 
   private:
-    std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster_;
-    rclcpp::TimerBase::SharedPtr                         timer_;
-    LibSerial::SerialStream                              enc_serial_port_;
+    std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
+    rclcpp::TimerBase::SharedPtr                   timer_;
+    LibSerial::SerialStream                        enc_serial_port_;
 
     void timer_callback() {
         double _x     = NAN;
@@ -73,7 +73,7 @@ class MgOdomPublisher : public rclcpp::Node {
         const tf2::Transform tf(tf2::Transform(q, tf2::Vector3(x, y, 0)));
         tf2::convert(tf, t.transform);
 
-        tf_static_broadcaster_->sendTransform(t);
+        tf_broadcaster_->sendTransform(t);
     }
 };