diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/angular_velocity.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/angular_velocity.hpp
index e857755..dd33fd9 100644
--- a/px4_ros2_cpp/include/px4_ros2/odometry/angular_velocity.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/odometry/angular_velocity.hpp
@@ -8,7 +8,7 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/vehicle_angular_velocity.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp
index d4cd69e..351c796 100644
--- a/px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp
@@ -8,8 +8,8 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/vehicle_attitude.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
 #include <px4_ros2/utils/geometry.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/global_position.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/global_position.hpp
index 8a2e00a..c1049b3 100644
--- a/px4_ros2_cpp/include/px4_ros2/odometry/global_position.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/odometry/global_position.hpp
@@ -8,7 +8,7 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/vehicle_global_position.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp
index 9b017e6..443e6b3 100644
--- a/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp
@@ -8,7 +8,7 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/vehicle_local_position.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/subscription.hpp b/px4_ros2_cpp/include/px4_ros2/utils/subscription.hpp
similarity index 100%
rename from px4_ros2_cpp/include/px4_ros2/odometry/subscription.hpp
rename to px4_ros2_cpp/include/px4_ros2/utils/subscription.hpp
diff --git a/px4_ros2_cpp/include/px4_ros2/vehicle_state/battery.hpp b/px4_ros2_cpp/include/px4_ros2/vehicle_state/battery.hpp
index b3b46b4..96d44e9 100644
--- a/px4_ros2_cpp/include/px4_ros2/vehicle_state/battery.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/vehicle_state/battery.hpp
@@ -8,7 +8,7 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/battery_status.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position.hpp b/px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position.hpp
index a582bda..de50733 100644
--- a/px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position.hpp
@@ -8,7 +8,7 @@
 #include <Eigen/Eigen>
 #include <px4_msgs/msg/home_position.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/vehicle_state/land_detected.hpp b/px4_ros2_cpp/include/px4_ros2/vehicle_state/land_detected.hpp
index 84ee84e..2329d39 100644
--- a/px4_ros2_cpp/include/px4_ros2/vehicle_state/land_detected.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/vehicle_state/land_detected.hpp
@@ -7,7 +7,7 @@
 
 #include <px4_msgs/msg/vehicle_land_detected.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/vehicle_state/vehicle_status.hpp b/px4_ros2_cpp/include/px4_ros2/vehicle_state/vehicle_status.hpp
index 2636175..bf483a2 100644
--- a/px4_ros2_cpp/include/px4_ros2/vehicle_state/vehicle_status.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/vehicle_state/vehicle_status.hpp
@@ -7,7 +7,7 @@
 
 #include <px4_msgs/msg/vehicle_status.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {
diff --git a/px4_ros2_cpp/include/px4_ros2/vehicle_state/vtol_status.hpp b/px4_ros2_cpp/include/px4_ros2/vehicle_state/vtol_status.hpp
index 2eb0c91..50ea559 100644
--- a/px4_ros2_cpp/include/px4_ros2/vehicle_state/vtol_status.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/vehicle_state/vtol_status.hpp
@@ -7,7 +7,7 @@
 
 #include <px4_msgs/msg/vtol_vehicle_status.hpp>
 #include <px4_ros2/common/context.hpp>
-#include <px4_ros2/odometry/subscription.hpp>
+#include <px4_ros2/utils/subscription.hpp>
 
 namespace px4_ros2
 {