diff --git a/README.md b/README.md
index 3908121b1..de613922d 100644
--- a/README.md
+++ b/README.md
@@ -1,14 +1,16 @@
 # fuse
 
-**NOTE**: The `rolling` branch is a [work in progress](https://github.com/locusrobotics/fuse/issues/276) port of the fuse stack to ROS 2, it is **not** expected to work until said work is done!
+Welcome to PickNik Robotics's fork of fuse!
 
-The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications
-include state estimation, localization, mapping, and calibration.
+## Getting Started
+
+Using the Dockerfile is the easiest way to get started. Once inside, simply `rosdep update` and `colcon build` and you're ready to get started! Try `ros2 launch fuse_tutorials fuse_3d_tutorial.launch.py` and look at its pertinent code for a crash course in fuse and its capabilities.
 
 ## Overview
 
-fuse is a ROS framework for performing sensor fusion using nonlinear least squares optimization techniques. In
-particular, fuse provides:
+The fuse stack provides a general architecture for performing sensor fusion live on a robot using nonlinear least squares optimization techniques.
+Some possible applications include state estimation, localization, mapping, and calibration.
+In particular, fuse provides:
 
 * a plugin-based system for modeling sensor measurements
 * a similar plugin-based system for motion models
diff --git a/fuse_constraints/include/fuse_constraints/marginalize_variables.hpp b/fuse_constraints/include/fuse_constraints/marginalize_variables.hpp
index 6911376e6..f69c9aad4 100644
--- a/fuse_constraints/include/fuse_constraints/marginalize_variables.hpp
+++ b/fuse_constraints/include/fuse_constraints/marginalize_variables.hpp
@@ -36,10 +36,7 @@
 
 #include <ceres/cost_function.h>
 
-#include <algorithm>
 #include <cassert>
-#include <iterator>
-#include <ostream>
 #include <string>
 #include <vector>
 
diff --git a/fuse_core/include/fuse_core/fuse_macros.hpp b/fuse_core/include/fuse_core/fuse_macros.hpp
index 6484d12f3..be86909be 100644
--- a/fuse_core/include/fuse_core/fuse_macros.hpp
+++ b/fuse_core/include/fuse_core/fuse_macros.hpp
@@ -58,10 +58,6 @@
 // Required by __MAKE_SHARED_ALIGNED_DEFINITION, that uses Eigen::aligned_allocator<T>().
 #include <Eigen/Core>
 
-#include <memory>
-#include <string>
-#include <utility>
-
 /**
  * Creates a custom new() implementation that ensures memory is allocated with proper byte
  * alignment. This should be added to the public section of classes or structs that contain
diff --git a/fuse_core/include/fuse_core/transaction.hpp b/fuse_core/include/fuse_core/transaction.hpp
index 4449c439d..9651d35bc 100644
--- a/fuse_core/include/fuse_core/transaction.hpp
+++ b/fuse_core/include/fuse_core/transaction.hpp
@@ -111,7 +111,7 @@ class Transaction
   /**
    * @brief Read-only access to this transaction's timestamp
    */
-  const rclcpp::Time& stamp() const
+  [[nodiscard]] const rclcpp::Time& stamp() const
   {
     return stamp_;
   }
@@ -129,7 +129,7 @@ class Transaction
    *
    * @return An iterator range containing all involved timestamps, ordered oldest to newest
    */
-  const_stamp_range involvedStamps() const
+  [[nodiscard]] const_stamp_range involvedStamps() const
   {
     return involved_stamps_;
   }
@@ -140,7 +140,7 @@ class Transaction
    *
    * @return The minimum (oldest) timestamp.
    */
-  const rclcpp::Time& minStamp() const;
+  [[nodiscard]] const rclcpp::Time& minStamp() const;
 
   /**
    * @brief Read-only access to the maximum (newest) timestamp among the transaction's stamp and all
@@ -148,21 +148,21 @@ class Transaction
    *
    * @return The maximum (newest) timestamp.
    */
-  const rclcpp::Time& maxStamp() const;
+  [[nodiscard]] const rclcpp::Time& maxStamp() const;
 
   /**
    * @brief Read-only access to the added constraints
    *
    * @return  An iterator range containing all added constraints
    */
-  const_constraint_range addedConstraints() const;
+  [[nodiscard]] const_constraint_range addedConstraints() const;
 
   /**
    * @brief Read-only access to the removed constraints
    *
    * @return  An iterator range containing all removed constraint UUIDs
    */
-  const_uuid_range removedConstraints() const
+  [[nodiscard]] const_uuid_range removedConstraints() const
   {
     return removed_constraints_;
   }
@@ -172,14 +172,14 @@ class Transaction
    *
    * @return  An iterator range containing all added variables
    */
-  const_variable_range addedVariables() const;
+  [[nodiscard]] const_variable_range addedVariables() const;
 
   /**
    * @brief Read-only access to the removed variables
    *
    * @return  An iterator range containing all removed variable UUIDs
    */
-  const_uuid_range removedVariables() const
+  [[nodiscard]] const_uuid_range removedVariables() const
   {
     return removed_variables_;
   }
@@ -190,7 +190,7 @@ class Transaction
    *
    * @return  True if the transaction is empty, false otherwise
    */
-  bool empty() const;
+  [[nodiscard]] bool empty() const;
 
   /**
    * @brief Add a timestamp to the "involved stamps" collection
@@ -275,7 +275,7 @@ class Transaction
    *
    * @return A unique pointer to a new instance of the most-derived Variable
    */
-  Transaction::UniquePtr clone() const;
+  [[nodiscard]] Transaction::UniquePtr clone() const;
 
   /**
    * @brief Serialize this Constraint into the provided binary archive
diff --git a/fuse_models/include/fuse_models/odometry_3d_publisher.hpp b/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
index dc623ad99..8f4853dc1 100644
--- a/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
+++ b/fuse_models/include/fuse_models/odometry_3d_publisher.hpp
@@ -118,6 +118,10 @@ class Odometry3DPublisher : public fuse_core::AsyncPublisher
    * @brief Destructor
    */
   virtual ~Odometry3DPublisher() = default;
+  Odometry3DPublisher(Odometry3DPublisher const&) = delete;
+  Odometry3DPublisher(Odometry3DPublisher&&) = delete;
+  Odometry3DPublisher& operator=(Odometry3DPublisher const&) = delete;
+  Odometry3DPublisher& operator=(Odometry3DPublisher&&) = delete;
 
   /**
    * @brief Shadowing extension to the AsyncPublisher::initialize call
@@ -126,6 +130,12 @@ class Odometry3DPublisher : public fuse_core::AsyncPublisher
                   const std::string& name) override;
 
 protected:
+  // helper function
+  void predict(tf2::Transform& pose, nav_msgs::msg::Odometry& odom_output, rclcpp::Time const& to_predict_to,
+               geometry_msgs::msg::AccelWithCovarianceStamped acceleration_output, bool latest_covariance_valid) const;
+  void publishTF(nav_msgs::msg::Odometry const& odom_output, tf2::Transform& pose);
+
+  void predictTimestampCallback(builtin_interfaces::msg::Time const& time_msg);
   /**
    * @brief Perform any required post-construction initialization, such as advertising publishers or
    *        reading from the parameter server.
@@ -216,7 +226,11 @@ class Odometry3DPublisher : public fuse_core::AsyncPublisher
   std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_predict_;
   rclcpp::Publisher<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr acceleration_pub_;
+  rclcpp::Subscription<builtin_interfaces::msg::Time>::SharedPtr predict_timestamp_sub_;
+  rclcpp::Time predict_timestamp_;
+  std::mutex predict_timestamp_mutex_;
 
   std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_ = nullptr;
   std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
diff --git a/fuse_models/include/fuse_models/parameters/odometry_3d_publisher_params.hpp b/fuse_models/include/fuse_models/parameters/odometry_3d_publisher_params.hpp
index 21cb0a29e..e74fdcb5e 100644
--- a/fuse_models/include/fuse_models/parameters/odometry_3d_publisher_params.hpp
+++ b/fuse_models/include/fuse_models/parameters/odometry_3d_publisher_params.hpp
@@ -36,10 +36,8 @@
 
 #include <ceres/covariance.h>
 
-#include <algorithm>
 #include <cassert>
 #include <string>
-#include <vector>
 
 #include <fuse_models/parameters/parameter_base.hpp>
 
@@ -77,6 +75,10 @@ struct Odometry3DPublisherParams : public ParameterBase
   {
     publish_tf = fuse_core::getParam(interfaces, fuse_core::joinParameterName(ns, "publish_tf"), publish_tf);
     invert_tf = fuse_core::getParam(interfaces, fuse_core::joinParameterName(ns, "invert_tf"), invert_tf);
+    predict_to_future =
+        fuse_core::getParam(interfaces, fuse_core::joinParameterName(ns, "predict_to_future"), predict_to_future);
+    predict_timestamp_topic = fuse_core::getParam(
+        interfaces, fuse_core::joinParameterName(ns, "predict_timestamp_topic"), predict_timestamp_topic);
     predict_to_current_time = fuse_core::getParam(
         interfaces, fuse_core::joinParameterName(ns, "predict_to_current_time"), predict_to_current_time);
     predict_with_acceleration = fuse_core::getParam(
@@ -158,6 +160,9 @@ struct Odometry3DPublisherParams : public ParameterBase
   std::string base_link_output_frame_id{ base_link_frame_id };
   std::string world_frame_id{ odom_frame_id };
   std::string topic{ "odometry/filtered" };
+  bool predict_to_future{ false };
+  std::string predict_timestamp_topic{ "predict_time" };
+  std::string predict_topic{ "predicted_odometry/filtered" };
   std::string acceleration_topic{ "acceleration/filtered" };
   ceres::Covariance::Options covariance_options;
 };
diff --git a/fuse_models/src/odometry_3d_publisher.cpp b/fuse_models/src/odometry_3d_publisher.cpp
index ec2649f91..202161b46 100644
--- a/fuse_models/src/odometry_3d_publisher.cpp
+++ b/fuse_models/src/odometry_3d_publisher.cpp
@@ -38,6 +38,8 @@
 #include <chrono>
 #include <memory>
 #include <mutex>
+#include <rclcpp/create_subscription.hpp>
+#include <rclcpp/time.hpp>
 #include <string>
 #include <utility>
 #include <vector>
@@ -112,10 +114,27 @@ void Odometry3DPublisher::onInit()
 
   odom_pub_ =
       rclcpp::create_publisher<nav_msgs::msg::Odometry>(interfaces_, params_.topic, params_.queue_size, pub_options);
+
+  if (params_.predict_to_future)
+  {
+    odom_pub_predict_ = rclcpp::create_publisher<nav_msgs::msg::Odometry>(interfaces_, params_.predict_topic,
+                                                                          params_.queue_size, pub_options);
+
+    predict_timestamp_sub_ = rclcpp::create_subscription<builtin_interfaces::msg::Time>(
+        interfaces_, params_.predict_timestamp_topic, params_.queue_size,
+        std::bind(&Odometry3DPublisher::predictTimestampCallback, this, std::placeholders::_1));
+  }
+
   acceleration_pub_ = rclcpp::create_publisher<geometry_msgs::msg::AccelWithCovarianceStamped>(
       interfaces_, params_.acceleration_topic, params_.queue_size, pub_options);
 }
 
+void Odometry3DPublisher::predictTimestampCallback(builtin_interfaces::msg::Time const& time_msg)
+{
+  std::lock_guard<std::mutex> const lock(predict_timestamp_mutex_);
+  predict_timestamp_ = rclcpp::Time(time_msg);
+}
+
 void Odometry3DPublisher::notifyCallback(fuse_core::Transaction::ConstSharedPtr transaction,
                                          fuse_core::Graph::ConstSharedPtr graph)
 {
@@ -124,7 +143,7 @@ void Odometry3DPublisher::notifyCallback(fuse_core::Transaction::ConstSharedPtr
   if (0u == latest_stamp.nanoseconds())
   {
     {
-      std::lock_guard<std::mutex> lock(mutex_);
+      std::lock_guard<std::mutex> const lock(mutex_);
       latest_stamp_ = latest_stamp;
     }
 
@@ -146,7 +165,7 @@ void Odometry3DPublisher::notifyCallback(fuse_core::Transaction::ConstSharedPtr
   if (!getState(*graph, latest_stamp, device_id_, position_uuid, orientation_uuid, velocity_linear_uuid,
                 velocity_angular_uuid, acceleration_linear_uuid, odom_output, acceleration_output))
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::lock_guard<std::mutex> const lock(mutex_);
     latest_stamp_ = latest_stamp;
     return;
   }
@@ -324,7 +343,7 @@ void Odometry3DPublisher::notifyCallback(fuse_core::Transaction::ConstSharedPtr
   }
 
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::lock_guard<std::mutex> const lock(mutex_);
 
     latest_stamp_ = latest_stamp;
     latest_covariance_stamp_ = latest_covariance_stamp;
@@ -345,7 +364,7 @@ void Odometry3DPublisher::onStart()
   // TODO(CH3): Add this to a separate callback group for async behavior
   publish_timer_ =
       rclcpp::create_timer(interfaces_, clock_, std::chrono::duration<double>(1.0 / params_.publish_frequency),
-                           std::move(std::bind(&Odometry3DPublisher::publishTimerCallback, this)), cb_group_);
+                           std::bind(&Odometry3DPublisher::publishTimerCallback, this), cb_group_);
 
   delayed_throttle_filter_.reset();
 }
@@ -420,23 +439,157 @@ bool Odometry3DPublisher::getState(const fuse_core::Graph& graph, const rclcpp::
   return true;
 }
 
+void Odometry3DPublisher::predict(tf2::Transform& pose, nav_msgs::msg::Odometry& odom_output,
+                                  rclcpp::Time const& to_predict_to,
+                                  geometry_msgs::msg::AccelWithCovarianceStamped acceleration_output,
+                                  bool latest_covariance_valid) const
+{
+  const double dt = to_predict_to.seconds() - rclcpp::Time(odom_output.header.stamp).seconds();
+  // Convert pose in Eigen representation
+  fuse_core::Vector3d position;
+  fuse_core::Vector3d velocity_linear;
+  fuse_core::Vector3d velocity_angular;
+  Eigen::Quaterniond orientation;
+  position << pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z();
+  orientation.x() = pose.getRotation().x();
+  orientation.y() = pose.getRotation().y();
+  orientation.z() = pose.getRotation().z();
+  orientation.w() = pose.getRotation().w();
+  velocity_linear << odom_output.twist.twist.linear.x, odom_output.twist.twist.linear.y,
+      odom_output.twist.twist.linear.z;
+  velocity_angular << odom_output.twist.twist.angular.x, odom_output.twist.twist.angular.y,
+      odom_output.twist.twist.angular.z;
+
+  fuse_core::Matrix15d jacobian;
+
+  fuse_core::Vector3d acceleration_linear;
+  if (params_.predict_with_acceleration)
+  {
+    acceleration_linear << acceleration_output.accel.accel.linear.x, acceleration_output.accel.accel.linear.y,
+        acceleration_output.accel.accel.linear.z;
+  }
+
+  ::fuse_models::predict(position, orientation, velocity_linear, velocity_angular, acceleration_linear, dt, position,
+                         orientation, velocity_linear, velocity_angular, acceleration_linear, jacobian);
+
+  // Convert back to tf2 representation
+  pose.setOrigin(tf2::Vector3(position.x(), position.y(), position.z()));
+  pose.setRotation(tf2::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w()));
+
+  odom_output.pose.pose.position.x = position.x();
+  odom_output.pose.pose.position.y = position.y();
+  odom_output.pose.pose.position.z = position.z();
+  odom_output.pose.pose.orientation.x = orientation.x();
+  odom_output.pose.pose.orientation.y = orientation.y();
+  odom_output.pose.pose.orientation.z = orientation.z();
+  odom_output.pose.pose.orientation.w = orientation.w();
+
+  odom_output.twist.twist.linear.x = velocity_linear.x();
+  odom_output.twist.twist.linear.y = velocity_linear.y();
+  odom_output.twist.twist.linear.z = velocity_linear.z();
+  odom_output.twist.twist.angular.x = velocity_angular.x();
+  odom_output.twist.twist.angular.y = velocity_angular.y();
+  odom_output.twist.twist.angular.z = velocity_angular.z();
+
+  if (params_.predict_with_acceleration)
+  {
+    acceleration_output.accel.accel.linear.x = acceleration_linear.x();
+    acceleration_output.accel.accel.linear.y = acceleration_linear.y();
+    acceleration_output.accel.accel.linear.z = acceleration_linear.z();
+  }
+
+  odom_output.header.stamp = to_predict_to;
+  acceleration_output.header.stamp = to_predict_to;
+
+  // Either the last covariance computation was skipped because there was no subscriber,
+  // or it failed
+  if (latest_covariance_valid)
+  {
+    fuse_core::Matrix15d covariance;
+    covariance.setZero();
+    Eigen::Map<fuse_core::Matrix6d> pose_covariance(odom_output.pose.covariance.data());
+    Eigen::Map<fuse_core::Matrix6d> twist_covariance(odom_output.twist.covariance.data());
+    Eigen::Map<fuse_core::Matrix3d> acceleration_covariance(acceleration_output.accel.covariance.data());
+
+    covariance.block<6, 6>(0, 0) = pose_covariance;
+    covariance.block<6, 6>(6, 6) = twist_covariance;
+    covariance.block<3, 3>(12, 12) = acceleration_covariance;
+
+    covariance = jacobian * covariance * jacobian.transpose();
+
+    auto process_noise_covariance = params_.process_noise_covariance;
+    if (params_.scale_process_noise)
+    {
+      common::scaleProcessNoiseCovariance(process_noise_covariance, velocity_linear, velocity_angular,
+                                          params_.velocity_linear_norm_min_, params_.velocity_angular_norm_min_);
+    }
+
+    covariance.noalias() += dt * process_noise_covariance;
+
+    pose_covariance = covariance.block<6, 6>(0, 0);
+    twist_covariance = covariance.block<6, 6>(6, 6);
+    acceleration_covariance = covariance.block<3, 3>(12, 12);
+  }
+}
+
+void Odometry3DPublisher::publishTF(nav_msgs::msg::Odometry const& odom_output, tf2::Transform& pose)
+{
+  auto frame_id = odom_output.header.frame_id;
+  auto child_frame_id = odom_output.child_frame_id;
+
+  if (params_.invert_tf)
+  {
+    pose = pose.inverse();
+    std::swap(frame_id, child_frame_id);
+  }
+
+  geometry_msgs::msg::TransformStamped trans;
+  trans.header.stamp = odom_output.header.stamp;
+  trans.header.frame_id = frame_id;
+  trans.child_frame_id = child_frame_id;
+  trans.transform = tf2::toMsg(pose);
+  if (!params_.invert_tf && params_.world_frame_id == params_.map_frame_id)
+  {
+    try
+    {
+      auto base_to_odom = tf_buffer_->lookupTransform(params_.base_link_frame_id, params_.odom_frame_id,
+                                                      trans.header.stamp, params_.tf_timeout);
+
+      geometry_msgs::msg::TransformStamped map_to_odom;
+      tf2::doTransform(base_to_odom, map_to_odom, trans);
+      map_to_odom.child_frame_id = params_.odom_frame_id;
+      trans = map_to_odom;
+    }
+    catch (const std::exception& e)
+    {
+      RCLCPP_WARN_STREAM_THROTTLE(logger_, *clock_, 5.0 * 1000,
+                                  "Could not lookup the " << params_.base_link_frame_id << "->" << params_.odom_frame_id
+                                                          << " transform. Error: " << e.what());
+
+      return;
+    }
+  }
+
+  tf_broadcaster_->sendTransform(trans);
+}
+
 void Odometry3DPublisher::publishTimerCallback()
 {
   rclcpp::Time latest_stamp;
-  rclcpp::Time latest_covariance_stamp;
-  bool latest_covariance_valid;
+  bool latest_covariance_valid = false;
   nav_msgs::msg::Odometry odom_output;
   geometry_msgs::msg::AccelWithCovarianceStamped acceleration_output;
   {
-    std::lock_guard<std::mutex> lock(mutex_);
+    std::lock_guard<std::mutex> const lock(mutex_);
 
     latest_stamp = latest_stamp_;
-    latest_covariance_stamp = latest_covariance_stamp_;
     latest_covariance_valid = latest_covariance_valid_;
     odom_output = odom_output_;
     acceleration_output = acceleration_output_;
   }
 
+  nav_msgs::msg::Odometry odom_output_predict = odom_output;
+
   if (0u == latest_stamp.nanoseconds())
   {
     RCLCPP_WARN_STREAM_EXPRESSION(logger_, delayed_throttle_filter_.isEnabled(),
@@ -447,141 +600,32 @@ void Odometry3DPublisher::publishTimerCallback()
   tf2::Transform pose;
   tf2::fromMsg(odom_output.pose.pose, pose);
 
+  tf2::Transform pose_predict;
+  tf2::fromMsg(odom_output_predict.pose.pose, pose_predict);
+
   // If requested, we need to project our state forward in time using the 3D kinematic model
   if (params_.predict_to_current_time)
   {
-    rclcpp::Time timer_now = interfaces_.get_node_clock_interface()->get_clock()->now();
-
-    // Convert pose in Eigen representation
-    fuse_core::Vector3d position, velocity_linear, velocity_angular;
-    Eigen::Quaterniond orientation;
-    position << pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z();
-    orientation.x() = pose.getRotation().x();
-    orientation.y() = pose.getRotation().y();
-    orientation.z() = pose.getRotation().z();
-    orientation.w() = pose.getRotation().w();
-    velocity_linear << odom_output.twist.twist.linear.x, odom_output.twist.twist.linear.y,
-        odom_output.twist.twist.linear.z;
-    velocity_angular << odom_output.twist.twist.angular.x, odom_output.twist.twist.angular.y,
-        odom_output.twist.twist.angular.z;
-
-    const double dt = timer_now.seconds() - rclcpp::Time(odom_output.header.stamp).seconds();
-
-    fuse_core::Matrix15d jacobian;
-
-    fuse_core::Vector3d acceleration_linear;
-    if (params_.predict_with_acceleration)
-    {
-      acceleration_linear << acceleration_output.accel.accel.linear.x, acceleration_output.accel.accel.linear.y,
-          acceleration_output.accel.accel.linear.z;
-    }
-
-    predict(position, orientation, velocity_linear, velocity_angular, acceleration_linear, dt, position, orientation,
-            velocity_linear, velocity_angular, acceleration_linear, jacobian);
-
-    // Convert back to tf2 representation
-    pose.setOrigin(tf2::Vector3(position.x(), position.y(), position.z()));
-    pose.setRotation(tf2::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w()));
-
-    odom_output.pose.pose.position.x = position.x();
-    odom_output.pose.pose.position.y = position.y();
-    odom_output.pose.pose.position.z = position.z();
-    odom_output.pose.pose.orientation.x = orientation.x();
-    odom_output.pose.pose.orientation.y = orientation.y();
-    odom_output.pose.pose.orientation.z = orientation.z();
-    odom_output.pose.pose.orientation.w = orientation.w();
-
-    odom_output.twist.twist.linear.x = velocity_linear.x();
-    odom_output.twist.twist.linear.y = velocity_linear.y();
-    odom_output.twist.twist.linear.z = velocity_linear.z();
-    odom_output.twist.twist.angular.x = velocity_angular.x();
-    odom_output.twist.twist.angular.y = velocity_angular.y();
-    odom_output.twist.twist.angular.z = velocity_angular.z();
-
-    if (params_.predict_with_acceleration)
-    {
-      acceleration_output.accel.accel.linear.x = acceleration_linear.x();
-      acceleration_output.accel.accel.linear.y = acceleration_linear.y();
-      acceleration_output.accel.accel.linear.z = acceleration_linear.z();
-    }
-
-    odom_output.header.stamp = timer_now;
-    acceleration_output.header.stamp = timer_now;
-
-    // Either the last covariance computation was skipped because there was no subscriber,
-    // or it failed
-    if (latest_covariance_valid)
-    {
-      fuse_core::Matrix15d covariance;
-      covariance.setZero();
-      Eigen::Map<fuse_core::Matrix6d> pose_covariance(odom_output.pose.covariance.data());
-      Eigen::Map<fuse_core::Matrix6d> twist_covariance(odom_output.twist.covariance.data());
-      Eigen::Map<fuse_core::Matrix3d> acceleration_covariance(acceleration_output.accel.covariance.data());
-
-      covariance.block<6, 6>(0, 0) = pose_covariance;
-      covariance.block<6, 6>(6, 6) = twist_covariance;
-      covariance.block<3, 3>(12, 12) = acceleration_covariance;
-
-      covariance = jacobian * covariance * jacobian.transpose();
-
-      auto process_noise_covariance = params_.process_noise_covariance;
-      if (params_.scale_process_noise)
-      {
-        common::scaleProcessNoiseCovariance(process_noise_covariance, velocity_linear, velocity_angular,
-                                            params_.velocity_linear_norm_min_, params_.velocity_angular_norm_min_);
-      }
-
-      covariance.noalias() += dt * process_noise_covariance;
-
-      pose_covariance = covariance.block<6, 6>(0, 0);
-      twist_covariance = covariance.block<6, 6>(6, 6);
-      acceleration_covariance = covariance.block<3, 3>(12, 12);
-    }
+    rclcpp::Time const timer_now = interfaces_.get_node_clock_interface()->get_clock()->now();
+    predict(pose, odom_output, timer_now, acceleration_output, latest_covariance_valid);
   }
 
   odom_pub_->publish(odom_output);
   acceleration_pub_->publish(acceleration_output);
-
-  if (params_.publish_tf)
+  if (params_.predict_to_future)
   {
-    auto frame_id = odom_output.header.frame_id;
-    auto child_frame_id = odom_output.child_frame_id;
-
-    if (params_.invert_tf)
+    rclcpp::Time predict_time;
     {
-      pose = pose.inverse();
-      std::swap(frame_id, child_frame_id);
-    }
-
-    geometry_msgs::msg::TransformStamped trans;
-    trans.header.stamp = odom_output.header.stamp;
-    trans.header.frame_id = frame_id;
-    trans.child_frame_id = child_frame_id;
-    trans.transform = tf2::toMsg(pose);
-    if (!params_.invert_tf && params_.world_frame_id == params_.map_frame_id)
-    {
-      try
-      {
-        auto base_to_odom = tf_buffer_->lookupTransform(params_.base_link_frame_id, params_.odom_frame_id,
-                                                        trans.header.stamp, params_.tf_timeout);
-
-        geometry_msgs::msg::TransformStamped map_to_odom;
-        tf2::doTransform(base_to_odom, map_to_odom, trans);
-        map_to_odom.child_frame_id = params_.odom_frame_id;
-        trans = map_to_odom;
-      }
-      catch (const std::exception& e)
-      {
-        RCLCPP_WARN_STREAM_THROTTLE(logger_, *clock_, 5.0 * 1000,
-                                    "Could not lookup the " << params_.base_link_frame_id << "->"
-                                                            << params_.odom_frame_id
-                                                            << " transform. Error: " << e.what());
-
-        return;
-      }
+      std::lock_guard<std::mutex> const lock(predict_timestamp_mutex_);
+      predict_time = predict_timestamp_;
     }
+    predict(pose_predict, odom_output_predict, predict_time, acceleration_output, latest_covariance_valid);
+    odom_pub_predict_->publish(odom_output_predict);
+  }
 
-    tf_broadcaster_->sendTransform(trans);
+  if (params_.publish_tf)
+  {
+    publishTF(odom_output, pose);
   }
 }
 
diff --git a/fuse_optimizers/include/fuse_optimizers/batch_optimizer.hpp b/fuse_optimizers/include/fuse_optimizers/batch_optimizer.hpp
index d3d905322..969df9624 100644
--- a/fuse_optimizers/include/fuse_optimizers/batch_optimizer.hpp
+++ b/fuse_optimizers/include/fuse_optimizers/batch_optimizer.hpp
@@ -39,11 +39,9 @@
 #include <condition_variable>
 #include <map>
 #include <mutex>
-#include <set>
 #include <string>
 #include <thread>
 #include <utility>
-#include <vector>
 
 #include <fuse_core/graph.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -111,13 +109,17 @@ class BatchOptimizer : public Optimizer
    * @param[in] interfaces          The node interfaces for the node driving the optimizer
    * @param[in] graph               The graph used with the optimizer
    */
-  BatchOptimizer(fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
-                 fuse_core::Graph::UniquePtr graph = nullptr);
+  explicit BatchOptimizer(fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
+                          fuse_core::Graph::UniquePtr graph = nullptr);
 
   /**
    * @brief Destructor
    */
   virtual ~BatchOptimizer();
+  BatchOptimizer(BatchOptimizer const&) = delete;
+  BatchOptimizer(BatchOptimizer&&) = delete;
+  BatchOptimizer& operator=(BatchOptimizer const&) = delete;
+  BatchOptimizer& operator=(BatchOptimizer&&) = delete;
 
 protected:
   /**
diff --git a/fuse_optimizers/include/fuse_optimizers/batch_optimizer_params.hpp b/fuse_optimizers/include/fuse_optimizers/batch_optimizer_params.hpp
index 5d64d5f9f..4977c92d8 100644
--- a/fuse_optimizers/include/fuse_optimizers/batch_optimizer_params.hpp
+++ b/fuse_optimizers/include/fuse_optimizers/batch_optimizer_params.hpp
@@ -37,9 +37,7 @@
 
 #include <ceres/solver.h>
 
-#include <algorithm>
 #include <string>
-#include <vector>
 
 #include <fuse_core/ceres_options.hpp>
 #include <fuse_core/parameter.hpp>
diff --git a/fuse_optimizers/include/fuse_optimizers/variable_stamp_index.hpp b/fuse_optimizers/include/fuse_optimizers/variable_stamp_index.hpp
index ab166db75..425ab73a2 100644
--- a/fuse_optimizers/include/fuse_optimizers/variable_stamp_index.hpp
+++ b/fuse_optimizers/include/fuse_optimizers/variable_stamp_index.hpp
@@ -69,6 +69,10 @@ class VariableStampIndex
    * @brief Destructor
    */
   virtual ~VariableStampIndex() = default;
+  VariableStampIndex(VariableStampIndex const&) = default;
+  VariableStampIndex(VariableStampIndex&&) = default;
+  VariableStampIndex& operator=(VariableStampIndex const&) = default;
+  VariableStampIndex& operator=(VariableStampIndex&&) = default;
 
   /**
    * @brief Return true if no variables exist in the index
diff --git a/fuse_optimizers/src/batch_optimizer.cpp b/fuse_optimizers/src/batch_optimizer.cpp
index c87fa4b28..78b530e99 100644
--- a/fuse_optimizers/src/batch_optimizer.cpp
+++ b/fuse_optimizers/src/batch_optimizer.cpp
@@ -32,7 +32,6 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <algorithm>
 #include <mutex>
 #include <string>
 #include <thread>
@@ -79,7 +78,7 @@ BatchOptimizer::~BatchOptimizer()
 void BatchOptimizer::applyMotionModelsToQueue()
 {
   // We need get the pending transactions from the queue
-  std::lock_guard<std::mutex> pending_transactions_lock(pending_transactions_mutex_);
+  std::lock_guard<std::mutex> const pending_transactions_lock(pending_transactions_mutex_);
   rclcpp::Time current_time;
   // Use the most recent transaction time as the current time
   if (!pending_transactions_.empty())
@@ -108,16 +107,14 @@ void BatchOptimizer::applyMotionModelsToQueue()
         pending_transactions_.erase(pending_transactions_.begin());
         continue;
       }
-      else
-      {
-        // Stop processing future transactions. Try again next time.
-        break;
-      }
+
+      // Stop processing future transactions. Try again next time.
+      break;
     }
     // Merge the sensor+motion model transactions into a combined transaction that will be applied
     // directly to the graph
     {
-      std::lock_guard<std::mutex> combined_transaction_lock(combined_transaction_mutex_);
+      std::lock_guard<std::mutex> const combined_transaction_lock(combined_transaction_mutex_);
       combined_transaction_->merge(*element.transaction, true);
     }
     // We are done with this transaction. Delete it from the queue.
@@ -147,7 +144,7 @@ void BatchOptimizer::optimizationLoop()
     // Copy the combined transaction so it can be shared with all the plugins
     fuse_core::Transaction::ConstSharedPtr const_transaction;
     {
-      std::lock_guard<std::mutex> lock(combined_transaction_mutex_);
+      std::lock_guard<std::mutex> const lock(combined_transaction_mutex_);
       const_transaction = std::move(combined_transaction_);
       combined_transaction_ = fuse_core::Transaction::make_shared();
     }
@@ -156,7 +153,7 @@ void BatchOptimizer::optimizationLoop()
     // Optimize the entire graph
     graph_->optimize(params_.solver_options);
     // Make a copy of the graph to share
-    fuse_core::Graph::ConstSharedPtr const_graph = graph_->clone();
+    fuse_core::Graph::ConstSharedPtr const const_graph = graph_->clone();
     // Optimization is complete. Notify all the things about the graph changes.
     notify(const_transaction, const_graph);
     // Clear the request flag now that this optimization cycle is complete
@@ -175,7 +172,7 @@ void BatchOptimizer::optimizerTimerCallback()
   applyMotionModelsToQueue();
   // Check if there is any pending information to be applied to the graph.
   {
-    std::lock_guard<std::mutex> lock(combined_transaction_mutex_);
+    std::lock_guard<std::mutex> const lock(combined_transaction_mutex_);
     optimization_request_ = !combined_transaction_->empty();
   }
   // If there is some pending work, trigger the next optimization cycle.
@@ -194,11 +191,11 @@ void BatchOptimizer::transactionCallback(const std::string& sensor_name, fuse_co
   // Or we have "started" already, and the new transaction is after the starting time.
   auto transaction_clock_type = transaction->stamp().get_clock_type();
 
-  rclcpp::Time transaction_time = transaction->stamp();
+  rclcpp::Time const transaction_time = transaction->stamp();
   rclcpp::Time last_pending_time(0, 0, transaction_clock_type);  // NOTE(CH3): Uninitialized
   if (!started_ || transaction_time >= start_time_)
   {
-    std::lock_guard<std::mutex> lock(pending_transactions_mutex_);
+    std::lock_guard<std::mutex> const lock(pending_transactions_mutex_);
     pending_transactions_.emplace(transaction_time, TransactionQueueElement(sensor_name, std::move(transaction)));
     last_pending_time = pending_transactions_.rbegin()->first;
   }
@@ -222,7 +219,7 @@ void BatchOptimizer::transactionCallback(const std::string& sensor_name, fuse_co
     {
       purge_time = last_pending_time - params_.transaction_timeout;
     }
-    std::lock_guard<std::mutex> lock(pending_transactions_mutex_);
+    std::lock_guard<std::mutex> const lock(pending_transactions_mutex_);
     auto purge_iter = pending_transactions_.lower_bound(purge_time);
     pending_transactions_.erase(pending_transactions_.begin(), purge_iter);
   }
@@ -241,7 +238,7 @@ void BatchOptimizer::setDiagnostics(diagnostic_updater::DiagnosticStatusWrapper&
 
   status.add("Started", started_);
   {
-    std::lock_guard<std::mutex> lock(pending_transactions_mutex_);
+    std::lock_guard<std::mutex> const lock(pending_transactions_mutex_);
     status.add("Pending Transactions", pending_transactions_.size());
   }
 }
diff --git a/fuse_optimizers/src/variable_stamp_index.cpp b/fuse_optimizers/src/variable_stamp_index.cpp
index a2fbd3a04..032ae1de4 100644
--- a/fuse_optimizers/src/variable_stamp_index.cpp
+++ b/fuse_optimizers/src/variable_stamp_index.cpp
@@ -33,7 +33,6 @@
  */
 
 #include <algorithm>
-#include <stdexcept>
 #include <vector>
 
 #include <fuse_core/transaction.hpp>
@@ -54,10 +53,7 @@ rclcpp::Time VariableStampIndex::currentStamp() const
   {
     return iter->second;
   }
-  else
-  {
-    return rclcpp::Time(0, 0, RCL_ROS_TIME);
-  }
+  return { 0, 0, RCL_ROS_TIME };
 }
 
 void VariableStampIndex::addNewTransaction(const fuse_core::Transaction& transaction)
@@ -94,8 +90,8 @@ void VariableStampIndex::applyAddedVariables(const fuse_core::Transaction& trans
 {
   for (const auto& variable : transaction.addedVariables())
   {
-    auto stamped_variable = dynamic_cast<const fuse_variables::Stamped*>(&variable);
-    if (stamped_variable)
+    const auto* stamped_variable = dynamic_cast<const fuse_variables::Stamped*>(&variable);
+    if (stamped_variable != nullptr)
     {
       stamped_index_[variable.uuid()] = stamped_variable->stamp();
     }
@@ -107,7 +103,7 @@ void VariableStampIndex::applyRemovedConstraints(const fuse_core::Transaction& t
 {
   for (const auto& constraint_uuid : transaction.removedConstraints())
   {
-    for (auto& variable_uuid : constraints_[constraint_uuid])
+    for (const auto& variable_uuid : constraints_[constraint_uuid])
     {
       variables_[variable_uuid].erase(constraint_uuid);
     }
diff --git a/fuse_tutorials/config/fuse_apriltag_tutorial.rviz b/fuse_tutorials/config/fuse_apriltag_tutorial.rviz
new file mode 100644
index 000000000..832ca6afc
--- /dev/null
+++ b/fuse_tutorials/config/fuse_apriltag_tutorial.rviz
@@ -0,0 +1,253 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Odometry1/Shape1
+        - /Odometry2/Shape1
+        - /Odometry3
+      Splitter Ratio: 0.5
+    Tree Height: 555
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 0; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ground_truth
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 255; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom_filtered
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /predicted_odometry/filtered
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10.72309398651123
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 60
diff --git a/fuse_tutorials/config/fuse_apriltag_tutorial.yaml b/fuse_tutorials/config/fuse_apriltag_tutorial.yaml
index 51531cbe9..5e1605030 100644
--- a/fuse_tutorials/config/fuse_apriltag_tutorial.yaml
+++ b/fuse_tutorials/config/fuse_apriltag_tutorial.yaml
@@ -14,7 +14,7 @@ state_estimator:
     3d_motion_model:
       # x, y, z, roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, x_acc, y_acc, z_acc
       # use high values for the acceleration process noise because we aren't measuring the applied forces
-      process_noise_diagonal: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 10., 10., 10.]
+      process_noise_diagonal: [0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 0.000001, 10., 10., 10.]
 
     sensor_models:
       initial_localization_sensor:
@@ -53,3 +53,4 @@ state_estimator:
       world_frame_id: 'odom'
       publish_tf: true
       publish_frequency: 100.0
+      predict_to_future: true
diff --git a/fuse_tutorials/launch/fuse_3d_tutorial.launch.py b/fuse_tutorials/launch/fuse_3d_tutorial.launch.py
index f57d66dc1..664d83e50 100755
--- a/fuse_tutorials/launch/fuse_3d_tutorial.launch.py
+++ b/fuse_tutorials/launch/fuse_3d_tutorial.launch.py
@@ -15,9 +15,8 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess
 from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import Node, SetParameter
+from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
diff --git a/fuse_tutorials/launch/fuse_apriltag_tutorial.launch.py b/fuse_tutorials/launch/fuse_apriltag_tutorial.launch.py
index 6df7100cd..62e4042a5 100644
--- a/fuse_tutorials/launch/fuse_apriltag_tutorial.launch.py
+++ b/fuse_tutorials/launch/fuse_apriltag_tutorial.launch.py
@@ -59,7 +59,7 @@ def generate_launch_description():
                     "-d",
                     [
                         PathJoinSubstitution(
-                            [pkg_dir, "config", "fuse_3d_tutorial.rviz"]
+                            [pkg_dir, "config", "fuse_apriltag_tutorial.rviz"]
                         )
                     ],
                 ],
diff --git a/fuse_tutorials/src/apriltag_simulator.cpp b/fuse_tutorials/src/apriltag_simulator.cpp
index c1bce41d1..43e952834 100644
--- a/fuse_tutorials/src/apriltag_simulator.cpp
+++ b/fuse_tutorials/src/apriltag_simulator.cpp
@@ -62,6 +62,7 @@ constexpr double aprilTagOrientationSigma = 0.25;  //!< the april tag orientatio
 constexpr size_t numAprilTags = 8;                 //!< the number of april tags
 constexpr double detectionProbability =
     0.5;  //!< the probability that any given april tag is detectable on a given tick of the simulation
+constexpr double futurePredictionTimeSeconds = 0.1;
 }  // namespace
 
 /**
@@ -314,6 +315,7 @@ int main(int argc, char** argv)
 
   // create the ground truth publisher
   auto ground_truth_publisher = node->create_publisher<nav_msgs::msg::Odometry>("ground_truth", 1);
+  auto predict_time_publisher = node->create_publisher<builtin_interfaces::msg::Time>("predict_time", 1);
 
   // Initialize the robot state (state variables are zero-initialized)
   auto state = Robot();
@@ -336,6 +338,11 @@ int main(int argc, char** argv)
     // store the first time this runs (since it won't start running exactly at a multiple of `motion_duration`)
     static auto const firstTime = node->now();
     auto const now = node->now();
+    builtin_interfaces::msg::Time predict_time(now);
+
+    // predict into the future
+    predict_time.nanosec += static_cast<int>(futurePredictionTimeSeconds * 1e9);
+    predict_time_publisher->publish(predict_time);
 
     // compensate for the original time offset
     double const now_d = (now - firstTime).seconds();