diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp
index 8a7b3670..1a9e82a8 100644
--- a/src/drone_controls/src/PositionChanger.cpp
+++ b/src/drone_controls/src/PositionChanger.cpp
@@ -3,13 +3,42 @@
 #include "object_detection/msg/LidarReading.msg"
 #include "height/msg/HeightData.msg"
 #include "drone_services/srv/SetVehicleControl.srv"
+#include "drone_services/srv/SetTrajectory/srv"
+
+#define LIDAR_SENSOR_FR 0 // front right
+#define LIDAR_SENSOR_FL 1 // front left
+#define LIDAR_SENSOR_RR 2 // rear right
+#define LIDAR_SENSOR_RL 3 // rear left
+
 class PositionChanger : public rclcpp::Node
 {
 public:
     PositionChanger() : Node("position_changer")
     {
+        rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+        auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
+
+        this->lidar_subscription = this->create_subscription<object_detection::msg::LidarReading>("/drone/object_detection",qos,  std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1))
 
     }
+
+    void handle_lidar_message(const object_detection::msg::LidarReading::SharedPtr message)
+    {
+        this->lidar_sensor_values[0] = message->sensor_1;
+        this->lidar_sensor_values[1] = message->sensor_2;
+        this->lidar_sensor_values[2] = message->sensor_3;
+        this->lidar_sensor_values[3] = message->sensor_4;
+
+        for (int i = 0; i < 4; i++)
+        {
+            this->lidar_imu_readings[i] = message->imu_data[i];
+        }
+    }
+
+private:
+    rclcpp::Subscription<object_detection::msg::LidarReading> lidar_subscription;
+    float lidar_sensor_values[4];
+    float lidar_imu_readings[4];
 };
 int main(int argc, char *argv[])
 {