diff --git a/python-requirements.txt b/python-requirements.txt
index 71c2c61..68b0c6f 100644
--- a/python-requirements.txt
+++ b/python-requirements.txt
@@ -5,8 +5,6 @@ numpy
 osqp
 pandas
 pymap3d
-pyproj
-rclpy
 scipy
 setuptools==58.2.0
 trimesh
diff --git a/rb_ws/src/buggy/buggy/buggy_state_converter.py b/rb_ws/src/buggy/buggy/buggy_state_converter.py
deleted file mode 100644
index 3d5c442..0000000
--- a/rb_ws/src/buggy/buggy/buggy_state_converter.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#!/usr/bin/env python3
-
-import rclpy
-from rclpy.node import Node
-from nav_msgs.msg import Odometry
-import numpy as np
-import pyproj
-
-
-class BuggyStateConverter(Node):
-    def __init__(self):
-        super().__init__("buggy_state_converter")
-
-        # ROS2 Subscriber: /ekf/odometry_earth
-        self.subscription = self.create_subscription(
-            Odometry, "/ekf/odometry_earth", self.ekf_odometry_callback, 10
-        )
-
-        # ROS2 Publisher: /nav/odometry_earth
-        self.publisher_ = self.create_publisher(Odometry, "/nav/odometry_earth", 10)
-
-        # Initialize pyproj Transformer for ECEF -> UTM conversion
-        self.ecef_to_utm_transformer = pyproj.Transformer.from_crs(
-            "epsg:4978", "epsg:32633", always_xy=True
-        )  # Change EPSG as required
-
-    def ekf_odometry_callback(self, msg):
-        """Callback function to process incoming odometry message, convert it, and publish the transformed message"""
-
-        # Create a new Odometry message for the output
-        converted_msg = Odometry()
-        converted_msg.header = msg.header
-
-        # ---- 1. Convert ECEF Position to UTM Coordinates ----
-        ecef_x = msg.pose.pose.position.x
-        ecef_y = msg.pose.pose.position.y
-        ecef_z = msg.pose.pose.position.z
-
-        # Convert ECEF to UTM using pyproj
-        utm_x, utm_y, _ = self.ecef_to_utm_transformer.transform(ecef_x, ecef_y, ecef_z)
-
-        # Set the converted UTM position in the new message
-        converted_msg.pose.pose.position.x = utm_x  # UTM Easting
-        converted_msg.pose.pose.position.y = utm_y  # UTM Northing
-        converted_msg.pose.pose.position.z = 0.0  # Ignored in this context
-
-        # ---- 2. Convert Quaternion to Heading (Radians) ----
-        qx = msg.pose.pose.orientation.x
-        qy = msg.pose.pose.orientation.y
-        qz = msg.pose.pose.orientation.z
-        qw = msg.pose.pose.orientation.w
-
-        # Convert quaternion to euler angles (roll, pitch, yaw)
-        yaw = self.quaternion_to_yaw(qx, qy, qz, qw)
-
-        # Store the heading in the x component of the orientation (0 is East)
-        converted_msg.pose.pose.orientation.x = yaw
-
-        # ---- 3. Copy Covariances (Unchanged) ----
-        converted_msg.pose.covariance = msg.pose.covariance
-        converted_msg.twist.covariance = msg.twist.covariance
-
-        # ---- 4. Convert Linear Velocities ----
-        converted_msg.twist.twist.linear.x = (
-            msg.twist.twist.linear.x
-        )  # m/s in x-direction
-        converted_msg.twist.twist.linear.y = (
-            msg.twist.twist.linear.y
-        )  # m/s in y-direction
-        converted_msg.twist.twist.linear.z = (
-            msg.twist.twist.linear.z
-        )  # Keep original Z velocity (??)
-
-        # ---- 5. Convert Angular Velocities (rad/s for heading rate of change) ----
-        converted_msg.twist.twist.angular.x = (
-            msg.twist.twist.angular.z
-        )  # rad/s for heading change rate
-        converted_msg.twist.twist.angular.y = (
-            msg.twist.twist.angular.y
-        )  # Keep original Y angular velocity (??)
-        converted_msg.twist.twist.angular.z = (
-            msg.twist.twist.angular.z
-        )  # Keep original Z angular velocity (??)
-
-        # Publish the converted message
-        self.publisher_.publish(converted_msg)
-
-    def quaternion_to_yaw(self, qx, qy, qz, qw):
-        """Convert a quaternion to yaw (heading) in radians."""
-        # Extract yaw (z-axis rotation) from quaternion
-        siny_cosp = 2.0 * (qw * qz + qx * qy)
-        cosy_cosp = 1.0 - 2.0 * (qy * qy + qz * qz)
-        return np.arctan2(siny_cosp, cosy_cosp)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    # Create the BuggyStateConverter node and spin it
-    state_converter = BuggyStateConverter()
-    # while rclpy.ok(): <- is this needed?
-    rclpy.spin(state_converter)
-
-    # Shutdown when done
-    state_converter.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/rb_ws/src/buggy/setup.py b/rb_ws/src/buggy/setup.py
index a817c9d..4373639 100644
--- a/rb_ws/src/buggy/setup.py
+++ b/rb_ws/src/buggy/setup.py
@@ -1,30 +1,30 @@
-from glob import glob
+from glob       import glob
 import os
 
 from setuptools import find_packages, setup
 
-package_name = "buggy"
+package_name = 'buggy'
 
 setup(
     name=package_name,
-    version="0.0.0",
-    packages=find_packages(exclude=["test"]),
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
     data_files=[
-        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        ("share/" + package_name, ["package.xml"]),
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
         (os.path.join("share", package_name), glob("launch/*.xml")),
     ],
-    install_requires=["setuptools"],
+    install_requires=['setuptools'],
     zip_safe=True,
-    maintainer="root",
-    maintainer_email="root@todo.todo",
-    description="TODO: Package description",
-    license="TODO: License declaration",
-    tests_require=["pytest"],
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
     entry_points={
-        "console_scripts": [
-            "hello_world = buggy.hello_world:main",
-            "buggy_state_converter = buggy.buggy_state_converter:main",
+        'console_scripts': [
+            'hello_world = buggy.hello_world:main'
         ],
     },
 )