diff --git a/examples/client/flexxlam_client_example.cpp b/examples/client/flexxlam_client_example.cpp
index d49bf0c..990b72a 100644
--- a/examples/client/flexxlam_client_example.cpp
+++ b/examples/client/flexxlam_client_example.cpp
@@ -5,15 +5,10 @@
 
 #include "include/flexxlam_client_example.hpp"
 
+#include <glog/logging.h>
 #include <memory>
 
-#include <communication/serial_communication.hpp>
-#include <protocol/base_protocol.hpp>
-#include <protocol/command/command_save_pcd_protocol.hpp>
 #include <protocol/push/push_pointcloud_protocol.hpp>
-#include <protocol/request/request_ethernet_communication_config.hpp>
-#include <protocol/request/request_mavlink_communication_config.hpp>
-#include <protocol/request/request_serial_communication_config.hpp>
 
 namespace flexxlam {
 
@@ -29,14 +24,14 @@ FlexXlamClientExample::FlexXlamClientExample()
 
 FlexXlamClientExample::~FlexXlamClientExample() {}
 
-void FlexXlamClientExample::on_get_odometry(
+void FlexXlamClientExample::on_push_odometry(
     const flexxlam_msgs::Odometry &odom) {
   LOG(INFO) << "[odom] x: " << odom.pose.position.x
             << ", y: " << odom.pose.position.y
             << ", z: " << odom.pose.position.z;
 }
 
-void FlexXlamClientExample::on_get_pointcloud(
+void FlexXlamClientExample::on_push_pointcloud(
     const flexxlam_msgs::PointCloud2 &pointcloud) {
   LOG(INFO) << "pointcloud: " << pointcloud.data.size();
   flexxlam::PushPointCloudProtocol protocol(pointcloud,
diff --git a/examples/client/include/flexxlam_client_example.hpp b/examples/client/include/flexxlam_client_example.hpp
index a5b92a2..7f627fa 100644
--- a/examples/client/include/flexxlam_client_example.hpp
+++ b/examples/client/include/flexxlam_client_example.hpp
@@ -11,7 +11,6 @@
 #include <vector>
 
 #include <communication/flexxlam_parser.hpp>
-#include <communication/serial_communication.hpp>
 #include <communication/udp_communication.hpp>
 #include <flexxlam_msgs/Odometry.hpp>
 #include <flexxlam_msgs/PointCloud2.hpp>
@@ -34,12 +33,13 @@ class FlexXlamClientExample : public ParsedMessageInterface {
   /// @param odom Odometry message
   ///
   /// This function is called when odometry message is received.
-  void on_get_odometry(const flexxlam_msgs::Odometry &odom) override;
+  void on_push_odometry(const flexxlam_msgs::Odometry &odom) override;
 
   /// @brief Callback function for pointcloud message
   /// @param pointcloud Pointcloud message
   /// @details This function is called when pointcloud message is received.
-  void on_get_pointcloud(const flexxlam_msgs::PointCloud2 &pointcloud) override;
+  void on_push_pointcloud(
+      const flexxlam_msgs::PointCloud2 &pointcloud) override;
 
   /// @brief UDP port number
   int udp_port_;
diff --git a/include/communication/flexxlam_parser.hpp b/include/communication/flexxlam_parser.hpp
index 7c4e077..763b465 100644
--- a/include/communication/flexxlam_parser.hpp
+++ b/include/communication/flexxlam_parser.hpp
@@ -22,13 +22,13 @@ struct ParsedMessageInterface {
   /// @brief Get odometry callback
   /// @param odom odometry
   /// @details This function is called when odometry is parsed.
-  virtual void on_get_odometry(const flexxlam_msgs::Odometry &odom) {}
+  virtual void on_push_odometry(const flexxlam_msgs::Odometry &odom) {}
 
   /// @brief Get pointcloud callback
   /// @param pointcloud pointcloud
   /// @details This function is called when pointcloud is parsed.
-  virtual void on_get_pointcloud(const flexxlam_msgs::PointCloud2 &pointcloud) {
-  }
+  virtual void on_push_pointcloud(
+      const flexxlam_msgs::PointCloud2 &pointcloud) {}
 
   /// @brief Request communication config callback
   /// @param type communication type. Please refer to `protocol::kCommType*`
diff --git a/include/protocol/push/push_odometry_protocol.hpp b/include/protocol/push/push_odometry_protocol.hpp
index a8f5bc2..7c191c8 100644
--- a/include/protocol/push/push_odometry_protocol.hpp
+++ b/include/protocol/push/push_odometry_protocol.hpp
@@ -45,7 +45,7 @@ class PushOdometryProtocol : public BaseProtocol {
   void handle_callback(
       const vector<ParsedMessageInterface *> &callbacks) override {
     for (auto callback : callbacks) {
-      callback->on_get_odometry(this->odom);
+      callback->on_push_odometry(this->odom);
     }
   }
 
diff --git a/include/protocol/push/push_pointcloud_protocol.hpp b/include/protocol/push/push_pointcloud_protocol.hpp
index 95f7c73..6a3bb5c 100644
--- a/include/protocol/push/push_pointcloud_protocol.hpp
+++ b/include/protocol/push/push_pointcloud_protocol.hpp
@@ -43,7 +43,7 @@ class PushPointCloudProtocol : public BaseProtocol {
   void handle_callback(
       const vector<ParsedMessageInterface *> &callbacks) override {
     for (auto callback : callbacks) {
-      callback->on_get_pointcloud(this->pointcloud_);
+      callback->on_push_pointcloud(this->pointcloud_);
     }
   }
 
diff --git a/tests/test_flexxlam_parser.cpp b/tests/test_flexxlam_parser.cpp
index 037d35f..f6101c6 100644
--- a/tests/test_flexxlam_parser.cpp
+++ b/tests/test_flexxlam_parser.cpp
@@ -47,7 +47,7 @@ TEST(FlexXlamParser, PushOdometryProtocolParse) {
 
   flexxlam::FlexXlamParser parser;
   struct TestParsedMessageInterface : public flexxlam::ParsedMessageInterface {
-    void on_get_odometry(const flexxlam_msgs::Odometry &odom) override {
+    void on_push_odometry(const flexxlam_msgs::Odometry &odom) override {
       is_odometry_same(expected_odom, odom);
     }
     flexxlam_msgs::Odometry expected_odom;
@@ -105,7 +105,7 @@ TEST(FlexXlamParser, PushOdometryProtocolParseBatch) {
 
   flexxlam::FlexXlamParser parser(102400);
   struct TestParsedMessageInterface : public flexxlam::ParsedMessageInterface {
-    void on_get_odometry(const flexxlam_msgs::Odometry &odom) override {
+    void on_push_odometry(const flexxlam_msgs::Odometry &odom) override {
       is_odometry_same(expected_odoms[odom_idx++], odom);
     }
     vector<flexxlam_msgs::Odometry> expected_odoms;