diff --git a/robomaster_pi/conn_odom.py b/robomaster_pi/conn_odom.py
index f7c54d79f8f3c937b80787506125f0ed10bb318b..fe9ee0f719da08aefcafc36d29f6cccd58034451 100644
--- a/robomaster_pi/conn_odom.py
+++ b/robomaster_pi/conn_odom.py
@@ -52,7 +52,7 @@ class OdometryPublisher(Node):
         ep_robot = robot.Robot()
         ep_robot.initialize(conn_type="rndis")
         ep_chassis = ep_robot.chassis
-        ep_chassis.sub_position(freq=10, callback=publish_odometry)
+        ep_chassis.sub_position(freq=10, callback=publish_odometry(self))