diff --git a/include/wolf_ros_subscriber_gnss.h b/include/wolf_ros_subscriber_gnss.h
index 689395638347bd06459f278844c28fd3739d881c..1bfd2168c0e350842c0a5fb0a6d6ea45837ec16a 100644
--- a/include/wolf_ros_subscriber_gnss.h
+++ b/include/wolf_ros_subscriber_gnss.h
@@ -38,12 +38,6 @@ class WolfSubscriberWrapperGnss : public WolfSubscriberWrapper
 
         ros::Subscriber sub_nav_;
         std::shared_ptr<GNSSUtils::Navigation> last_nav_ptr_;
-        GNSSUtils::Navigation last_nav_;
-        GNSSUtils::Observations obs_;
-        GNSSUtils::ComputePosOutput  get_pos_res_;
-
-        prcopt_t prcopt_;
-        bool new_obs_;
 
     public:
         // Constructor
diff --git a/src/wolf_ros_subscriber_gnss.cpp b/src/wolf_ros_subscriber_gnss.cpp
index ba614f5c88578b03fa43d44bc919dce421f379c3..1662a015259d98cdbe1fc7593a06a07f8f7ec42e 100644
--- a/src/wolf_ros_subscriber_gnss.cpp
+++ b/src/wolf_ros_subscriber_gnss.cpp
@@ -6,19 +6,7 @@ using namespace wolf;
 WolfSubscriberWrapperGnss::WolfSubscriberWrapperGnss(const SensorBasePtr& sensor_ptr) :
         WolfSubscriberWrapper(sensor_ptr)
 {
-    prcopt_ = prcopt_default;
-    prcopt_.mode = PMODE_SINGLE;
-    prcopt_.soltype = 0;
-    prcopt_.nf = 1;
-    prcopt_.navsys = SYS_GPS;
-    prcopt_.sateph = EPHOPT_BRDC;
-    prcopt_.ionoopt = IONOOPT_OFF;
-    prcopt_.tropopt = TROPOPT_OFF;
-    prcopt_.dynamics = 0;
-    prcopt_.tidecorr = 0;
-    prcopt_.sbascorr = SBSOPT_FCORR;
-
-    this->new_obs_=false;
+    
 }
 
 
@@ -34,37 +22,25 @@ void WolfSubscriberWrapperGnss::callbackObservation(const iri_gnss_msgs::Observa
     ROS_INFO("callbackObs!");
     if (last_nav_ptr_==nullptr)
         return;
-
-    // std::shared_ptr<GNSSUtils::Observations> obs_ptr = std::make_shared<GNSSUtils::Observations>();
-    // GNSSUtils::fillObservation(*(obs_ptr), msg);  
-
     
-    // GNSSUtils::Observations obs;
-    GNSSUtils::fillObservation(this->obs_, msg);
-    this->new_obs_=true;
-    // CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
-    //                                                            sensor_ptr_,
-    //                                                            obs_ptr,
-    //                                                            last_nav_ptr_);
-    // new_capture->process();
+    std::shared_ptr<GNSSUtils::Observations> obs_ptr = std::make_shared<GNSSUtils::Observations>();
+    GNSSUtils::fillObservation(*(obs_ptr), msg);    
+
+    CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+                                                               sensor_ptr_,
+                                                               obs_ptr,
+                                                               last_nav_ptr_);
+    new_capture->process();
 }
 
 void WolfSubscriberWrapperGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
 {
     ROS_INFO("callbackNav!");
-
-    std::cout << "Ephemeris size: " << msg->eph.size() << "\n";
-    GNSSUtils::fillNavigation(this->last_nav_, msg);
+    
     last_nav_ptr_ = std::make_shared<GNSSUtils::Navigation>();
-    this->last_nav_.print();
-
-    if (this->new_obs_)
-    {
-        std::cout << "Before computed!!! \n";
-        this->get_pos_res_ = GNSSUtils::computePos(this->obs_, this->last_nav_, this->prcopt_);
-        std::cout << "Computed!!! \n";
-    }    
+    GNSSUtils::fillNavigation(*(last_nav_ptr_), msg);
 }
+
 std::shared_ptr<WolfSubscriberWrapper> WolfSubscriberWrapperGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
     return std::make_shared<WolfSubscriberWrapperGnss>(_sensor_ptr);