diff --git a/README.md b/README.md
index 6fd7873..2e5e5cd 100644
--- a/README.md
+++ b/README.md
@@ -28,6 +28,10 @@ Build the package in your workspace:
 Source setup.bash in your workspace:
 
     . install/setup.bash
+
+Grant user access to i2c, need to reboot afterwards:
+
+    sudo usermod <user-name> -aG i2c
     
 Launch it:
 
diff --git a/params/mpu6050.yaml b/params/mpu6050.yaml
index 38838f8..6372039 100644
--- a/params/mpu6050.yaml
+++ b/params/mpu6050.yaml
@@ -14,4 +14,4 @@ mpu6050driver_node:
     accel_x_offset: 0.0 # [m/s²]
     accel_y_offset: 0.0 # [m/s²]
     accel_z_offset: 0.0 # [m/s²]
-    frequency: 100 # [Hz]
+    frequency: 50 # [Hz]
diff --git a/src/mpu6050driver.cpp b/src/mpu6050driver.cpp
index 541afd4..15c4014 100644
--- a/src/mpu6050driver.cpp
+++ b/src/mpu6050driver.cpp
@@ -33,7 +33,7 @@ MPU6050Driver::MPU6050Driver()
   // Create publisher
   publisher_ = this->create_publisher<sensor_msgs::msg::Imu>("imu", 10);
   std::chrono::duration<int64_t, std::milli> frequency =
-      1000ms / this->get_parameter("gyro_range").as_int();
+      1000ms / this->get_parameter("frequency").as_int();
   timer_ = this->create_wall_timer(frequency, std::bind(&MPU6050Driver::handleInput, this));
 }
 
@@ -41,15 +41,16 @@ void MPU6050Driver::handleInput()
 {
   auto message = sensor_msgs::msg::Imu();
   message.header.stamp = this->get_clock()->now();
-  message.header.frame_id = "base_link";
+  message.header.frame_id = "imu"; //"base_link";
   message.linear_acceleration_covariance = {0};
   message.linear_acceleration.x = mpu6050_->getAccelerationX();
   message.linear_acceleration.y = mpu6050_->getAccelerationY();
   message.linear_acceleration.z = mpu6050_->getAccelerationZ();
   message.angular_velocity_covariance[0] = {0};
-  message.angular_velocity.x = mpu6050_->getAngularVelocityX();
-  message.angular_velocity.y = mpu6050_->getAngularVelocityY();
-  message.angular_velocity.z = mpu6050_->getAngularVelocityZ();
+  float deg_to_rad = 0.0174533;
+  message.angular_velocity.x = mpu6050_->getAngularVelocityX()*deg_to_rad;
+  message.angular_velocity.y = mpu6050_->getAngularVelocityY()*deg_to_rad;
+  message.angular_velocity.z = mpu6050_->getAngularVelocityZ()*deg_to_rad;
   // Invalidate quaternion
   message.orientation_covariance[0] = -1;
   message.orientation.x = 0;
@@ -80,4 +81,4 @@ int main(int argc, char* argv[])
   rclcpp::spin(std::make_shared<MPU6050Driver>());
   rclcpp::shutdown();
   return 0;
-}
\ No newline at end of file
+}