diff --git a/src/publish_vel_dist.py b/src/publish_vel_dist.py
index bbe976a..d6f58bf 100644
--- a/src/publish_vel_dist.py
+++ b/src/publish_vel_dist.py
@@ -8,52 +8,26 @@
 
 class VariableMaintainer():
 	def __init__(self):
-		self._time = False
-        self._velocity = [0,0,0]
-        self._position = [0,0,0]
-	
-	@property
-	def time(self):
-		return self._time
-
-	@time.setter
-	def time(self, value):
-		self._time = value
-    
-    @property
-	def velocity(self):
-		return self._velocity
-
-	@velocity.setter
-	def velocity(self, value):
-		self._velocity = value
-
-    @property
-	def position(self):
-		return self._position
-
-	@position.setter
-	def position(self, value):
-		self._position = value
-
-
+		self.time = False
+        	self.velocity = [0,0,0]
+        	self.position = [0,0,0]
 
 def publishVelDist(msg, vmaint):
     velPub = rospy.Publisher('calc_velocity', Vector3)
     posPub = rospy.Publisher('calc_position', Vector3)
     if not vmaint.time:     # This means this is the first run
-        vmaint.time = msg.header.secs + msg.header.nsecs*math.pow(10,-9)
+        vmaint.time = msg.header.stamp.secs + msg.header.stamp.nsecs*math.pow(10,-9)
         vmaint.velocity = [0,0,0]
         vmaint.position = [0,0,0]
     else:
-        ctime = msg.header.secs + msg.header.nsecs*math.pow(10,-9)
+        ctime = msg.header.stamp.secs + msg.header.stamp.nsecs*math.pow(10,-9)
         tdelt = ctime - vmaint.time
         accel = [msg.linear_acceleration.x,
                  msg.linear_acceleration.y,
                  msg.linear_acceleration.z]
-        map(lambda x: x*timedelt, accel)
+        map(lambda x: x*tdelt, accel)
         vmaint.velocity = [vmaint.velocity[i]+accel[i] for i in range(3)]
-        map(lambda x: x*timedelt, accel)
+        map(lambda x: x*tdelt, accel)
         vmaint.velocity = [vmaint.velocity[i]+accel[i] for i in range(3)]
         vmaint.time = ctime
         v = Vector3(vmaint.velocity[0],vmaint.velocity[1],vmaint.velocity[2])
@@ -64,9 +38,9 @@ def publishVelDist(msg, vmaint):
 def main():
 	# Collect first 50 entries and average them.
 	rospy.init_node("publish_vel_dist")
-    timemaint = VariableMaintainer()
+    	vmaint = VariableMaintainer()
 	rospy.Subscriber('imu', Imu, publishVelDist, vmaint)
 	rospy.spin()
 
 if __name__=='__main__':
-	main()
\ No newline at end of file
+	main()