diff --git a/rb_ws/src/buggy/buggy/visualization/telematics.py b/rb_ws/src/buggy/buggy/visualization/telematics.py
index 48168ce..0a7e4d3 100644
--- a/rb_ws/src/buggy/buggy/visualization/telematics.py
+++ b/rb_ws/src/buggy/buggy/visualization/telematics.py
@@ -2,16 +2,10 @@
 # Runs the conversion script for all telematics data
 
 import rclpy
-from rclpy.node import Node
-
-from geometry_msgs.msg import PoseStamped
 from nav_msgs.msg import Odometry
+from rclpy.node import Node
 from sensor_msgs.msg import NavSatFix
-from std_msgs.msg import Float64MultiArray
-from std_msgs.msg import String
-from std_msgs.msg import Int8
 
-from microstrain_inertial_msgs.msg import MipGnssFixInfo
 
 class Telematics(Node):
     """
@@ -27,29 +21,19 @@ def __init__(self):
         def wrap_args(callback, callback_args):
             return lambda msg: callback(msg, callback_args)
 
-        self.odom_subscriber = self.create_subscription(Odometry, "/NAND/nav/odom", self.convert_odometry_to_navsatfix, 1)
-        self.odom_publisher = self.create_publisher(NavSatFix, "/NAND/nav/odom_NavSatFix", 10)
-
-        self.gnss1_pose_publisher = self.create_publisher(PoseStamped, "/gnss1/fix_Pose", 10)
-        self.gnss1_covariance_publisher = self.create_publisher(Float64MultiArray, "/gnss1/fix_FloatArray_Covariance", 10)
-        self.gnss1_subscriber = self.create_subscription(NavSatFix, "/gnss1/llh_position", wrap_args(self.convert_navsatfix_to_pose_covariance, (self.gnss1_pose_publisher, self.gnss1_covariance_publisher)), 1)
+        self.self_publisher = self.create_publisher(NavSatFix, "/self/state_navsatfix", 10)
+        self.self_subscriber = self.create_subscription(Odometry, "/self/state", wrap_args(self.convert_buggystate, self.self_publisher), 1)
 
-        self.gnss2_pose_publisher = self.create_publisher(PoseStamped, "/gnss2/fix_Pose", 10)
-        self.gnss2_covariance_publisher = self.create_publisher(Float64MultiArray, "/gnss2/fix_FloatArray_Covariance", 10)
-        self.gnss2_subscriber = self.create_subscription(NavSatFix, "/gnss2/llh_position", wrap_args(self.convert_navsatfix_to_pose_covariance, (self.gnss2_pose_publisher, self.gnss2_covariance_publisher)), 1)
+        self.other_publisher = self.create_publisher(NavSatFix, "/other/state_navsatfix", 10)
+        self.other_subscriber = self.create_subscription(Odometry, "/other/state", wrap_args(self.convert_buggystate, self.other_publisher), 1)
 
-        self.gnss1_fixinfo_publisher = self.create_publisher(String, "/gnss1/fix_info_republished", 10)
-        self.gnss1_fixinfo_int_publisher = self.create_publisher(Int8, "/gnss1/fix_info_republished_int", 10)
-        self.gnss1_fixinfo_subscriber = self.create_subscription(MipGnssFixInfo, "/mip/gnss1/fix_info", wrap_args(self.republish_fixinfo, (self.gnss1_fixinfo_publisher, self.gnss1_fixinfo_int_publisher)), 1)
-
-        self.gnss2_fixinfo_publisher = self.create_publisher(String, "/gnss2/fix_info_republished", 10)
-        self.gnss2_fixinfo_int_publisher = self.create_publisher(Int8, "/gnss2/fix_info_republished_int", 10)
-        self.gnss2_fixinfo_subscriber = self.create_subscription(MipGnssFixInfo, "/mip/gnss2/fix_info", wrap_args(self.republish_fixinfo, (self.gnss2_fixinfo_publisher, self.gnss2_fixinfo_int_publisher)), 1)
-
-    def convert_odometry_to_navsatfix(self, msg):
-        """Convert Odometry-type to NavSatFix-type for plotting on Foxglove
+    # TODO Make this a static method?
+    def convert_buggystate(self, msg, publisher):
+        """Converts BuggyState/Odometry message to NavSatFix and publishes to specified publisher
+        
         Args:
-            msg (Odometry): odometry as per INS
+            msg (Odometry): Buggy state to convert
+            publisher (Publisher): Publisher to send NavSatFix message to
         """
         lat = msg.pose.pose.position.y
         long = msg.pose.pose.position.x
@@ -59,56 +43,8 @@ def convert_odometry_to_navsatfix(self, msg):
         new_msg.latitude = lat
         new_msg.longitude = long
         new_msg.altitude = down
-        self.odom_publisher.publish(new_msg)
-
-    def convert_navsatfix_to_pose_covariance(self, msg, publishers):
-        """Convert NavSatFix-type and related covariance matrix to Pose-type and array
-        respectively for easy visualization in Foxglove.
-
-        Args:
-            msg (NavSatFix): original msg
-            publishers (tuple): tuple of publishes
-        """
-        pose = PoseStamped()
-        pose.pose.position.y = msg.latitude
-        pose.pose.position.x = msg.longitude
-        pose.pose.position.z = msg.altitude
-        pose.header = msg.header
-        publishers[0].publish(pose)
-
-        covariance = Float64MultiArray()
-        covariance.data = [
-            round(msg.position_covariance[0], 4),
-            round(msg.position_covariance[4], 4),
-            round(msg.position_covariance[8], 4)]
-        publishers[1].publish(covariance)
-
-    def republish_fixinfo(self, msg, publishers):
-        """
-        convert gnss/fixinfo to a string for visualization in foxglove
-        """
-        fix_type = msg.fix_type
-        fix_string = "fix type: "
-
-        if (fix_type == 0):
-            fix_string += "FIX_3D"
-        elif (fix_type == 1):
-            fix_string += "FIX_2D"
-        elif (fix_type == 2):
-            fix_string += "FIX_TIME_ONLY"
-        elif (fix_type == 3):
-            fix_string += "FIX_NONE"
-        elif (fix_type == 4):
-            fix_string += "FIX_INVALID"
-        elif (fix_type == 5):
-            fix_string += "FIX_RTK_FLOAT"
-        else:
-            fix_string += "FIX_RTK_FIXED"
+        publisher.publish(new_msg)
 
-        # fix_string += "\nsbas_used: "  + str(msg.sbas_used)
-        # fix_string += "\ndngss_used: " + str(msg.dngss_used)
-        publishers[0].publish(fix_string)
-        publishers[1].publish(fix_type)
 
 if __name__ == "__main__":
     rclpy.init()