diff --git a/src/g2_2025_odometry_pkg/CMakeLists.txt b/src/g2_2025_odometry_pkg/CMakeLists.txt
index 9e902f2..f8d467d 100644
--- a/src/g2_2025_odometry_pkg/CMakeLists.txt
+++ b/src/g2_2025_odometry_pkg/CMakeLists.txt
@@ -10,6 +10,19 @@ find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+add_executable(data_simulator_node src/g2_2025_data_simulator_node/nodes/data_simulator.cpp src/g2_2025_data_simulator_node/main.cpp)
+# add_executable(data_simulator_node src/g2_2025_data_simulator_node/nodes/temp.cpp)
+
+ament_target_dependencies(data_simulator_node rclcpp sensor_msgs geometry_msgs)
+
+install(TARGETS
+  data_simulator_node
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_data_simulator_node/main.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_data_simulator_node/main.cpp
index 556b109..b377748 100644
--- a/src/g2_2025_odometry_pkg/src/g2_2025_data_simulator_node/main.cpp
+++ b/src/g2_2025_odometry_pkg/src/g2_2025_data_simulator_node/main.cpp
@@ -4,7 +4,7 @@
 int main(int argc, char *argv[]) {
     rclcpp::init(argc, argv);
 
-    auto node = std::make_shared<assignments::two::imu_database_writer::IMUDatabaseWriter>();
+    auto node = std::make_shared<assignments::three::data_simulator_node::DataSimulator>();
 
     rclcpp::spin(node);
     rclcpp::shutdown();