diff --git a/app/tools/parse_config_to_airsim.py b/app/tools/parse_config_to_airsim.py
index f9996d9..93d69e9 100755
--- a/app/tools/parse_config_to_airsim.py
+++ b/app/tools/parse_config_to_airsim.py
@@ -273,7 +273,7 @@ def parse_transformation(self, list_in, dict_out):
             dict_out["Z"] = -list_in[2][3]
             R = [x[:3] for x in list_in[:3]]
             # Support python 2 and 3 scipy versions.
-            if sys.version_info >= (3, 0):
+            if sys.version_info < (3, 0):
                 R = Rotation.from_matrix(R)
             else:
                 R = Rotation.from_dcm(R)
diff --git a/include/unreal_airsim/online_simulator/sensor_timer.h b/include/unreal_airsim/online_simulator/sensor_timer.h
index 349f68c..69e82ec 100644
--- a/include/unreal_airsim/online_simulator/sensor_timer.h
+++ b/include/unreal_airsim/online_simulator/sensor_timer.h
@@ -24,6 +24,7 @@ class SensorTimer {
   virtual ~SensorTimer() = default;
 
   void timerCallback(const ros::TimerEvent&);
+  void getImages();
 
   double getRate() const;
   bool isPrivate() const;
diff --git a/include/unreal_airsim/online_simulator/simulator.h b/include/unreal_airsim/online_simulator/simulator.h
index 0dbd6b6..d3025ee 100644
--- a/include/unreal_airsim/online_simulator/simulator.h
+++ b/include/unreal_airsim/online_simulator/simulator.h
@@ -112,6 +112,7 @@ class AirsimSimulator {
    * set pose should do for most purposes.
    */
   void commandPoseCallback(const geometry_msgs::Pose& msg);
+  void commandPoseNoOdomCallback(const geometry_msgs::Pose& msg);
 
   // added from trajectory caller node
   void commandTrajectorycallback(
@@ -139,6 +140,7 @@ class AirsimSimulator {
   ros::Publisher sim_is_ready_pub_;
   ros::Publisher time_pub_;
   ros::Subscriber command_pose_sub_;
+  ros::Subscriber command_pose_no_odom_sub_;
   ros::Subscriber command_trajectory_sub_;
   tf2_ros::TransformBroadcaster tf_broadcaster_;
   tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_;
diff --git a/src/online_simulator/sensor_timer.cpp b/src/online_simulator/sensor_timer.cpp
index d56269d..addb2b8 100644
--- a/src/online_simulator/sensor_timer.cpp
+++ b/src/online_simulator/sensor_timer.cpp
@@ -44,6 +44,10 @@ void SensorTimer::timerCallback(const ros::TimerEvent&) {
   processImus();
 }
 
+void SensorTimer::getImages() {
+  processCameras();
+}
+
 void SensorTimer::addSensor(const AirsimSimulator& simulator,
                             int sensor_index) {
   AirsimSimulator::Config::Sensor* sensor =
diff --git a/src/online_simulator/simulator.cpp b/src/online_simulator/simulator.cpp
index 666f4c3..866b7e7 100644
--- a/src/online_simulator/simulator.cpp
+++ b/src/online_simulator/simulator.cpp
@@ -291,6 +291,10 @@ bool AirsimSimulator::setupROS() {
       nh_.subscribe(config_.vehicle_name + "/command/pose", 10,
                     &AirsimSimulator::commandPoseCallback, this);
 
+  command_pose_no_odom_sub_ =
+      nh_.subscribe(config_.vehicle_name + "/command/pose_no_odom", 1,
+                    &AirsimSimulator::commandPoseNoOdomCallback, this);
+
   command_trajectory_sub_ =
       nh_.subscribe(config_.vehicle_name + "/command/trajectory", 10,
                     &AirsimSimulator::commandTrajectorycallback, this);
@@ -468,7 +472,6 @@ void AirsimSimulator::commandPoseCallback(const geometry_msgs::Pose& msg) {
 
   // Use position + yaw as setpoint
   auto command_pos = T_gt_command.getPosition();
-
   auto command_ori = T_gt_command.getEigenQuaternion();
   std::cout << "Pose Orientation In ROS Frame: " << command_ori.x() << " "
             << command_ori.y() << " " << command_ori.z() << " "
@@ -508,6 +511,59 @@ void AirsimSimulator::commandPoseCallback(const geometry_msgs::Pose& msg) {
   }
 }
 
+void AirsimSimulator::commandPoseNoOdomCallback(const geometry_msgs::Pose& msg) {
+  if (!is_running_) {
+    std::cout << "Not running." << std::endl;
+    return;
+  }
+
+  // // Input pose is in drifting odom frame, we therefore
+  // // first convert it back into Unreal GT frame
+  OdometryDriftSimulator::Transformation T_drift_command;
+  tf::poseMsgToKindr(msg, &T_drift_command);
+  const OdometryDriftSimulator::Transformation T_gt_command =
+      odometry_drift_simulator_.convertDriftedToGroundTruthPose(
+          T_drift_command);
+  OdometryDriftSimulator::Transformation::Position t_gt_current_position =
+      odometry_drift_simulator_.getGroundTruthPose().getPosition();
+
+  // Use position + yaw as setpoint
+  auto command_pos = msg.position;
+  auto command_ori = msg.orientation;
+  std::cout << "Pose Position In ROS Frame: " << command_pos.x << " "
+            << command_pos.y << " " << command_pos.z << std::endl;
+  std::cout << "Pose Orientation In ROS Frame: " << command_ori.x << " "
+            << command_ori.y << " " << command_ori.z << " "
+            << command_ori.w << std::endl;
+  frame_converter_.rosToAirsim(&command_pos);
+  frame_converter_.rosToAirsim(&command_ori);
+  std::cout << "Pose Position In Airsim Frame: " << command_pos.x << " "
+            << command_pos.y << " " << command_pos.z << std::endl;
+  std::cout << "Pose Orientation In Airsim Frame: " << command_ori.x << " "
+            << command_ori.y << " " << command_ori.z << " "
+            << command_ori.w << std::endl;
+            
+  // double yaw = tf2::getYaw(
+  //     tf2::Quaternion(command_ori.x, command_ori.y, command_ori.z,
+  //                     command_ori.w));  // Eigen's eulerAngles apparently
+  // // messes up some wrap arounds or direcions and gets the wrong yaws in some
+  // // cases
+
+  Eigen::Vector3f command_pos_eigen(command_pos.x, command_pos.y, command_pos.z);
+  Eigen::Quaternion command_ori_eigen(float(command_ori.w), 
+                                      float(command_ori.x), 
+                                      float(command_ori.y), 
+                                      float(command_ori.z));
+
+  airsim_move_client_.cancelLastTask();
+  airsim_move_client_.simSetVehiclePose(Pose(command_pos_eigen, command_ori_eigen),
+                                        true,
+                                        "airsim_drone");
+
+  // Trigger image collection
+  sensor_timers_.front()->getImages();
+}
+
 void AirsimSimulator::startupCallback(const ros::TimerEvent&) {
   // Startup the drone, this should set the MAV hovering at 'PlayerStart' in
   // unreal