diff --git a/clever/src/vpe_publisher.cpp b/clever/src/vpe_publisher.cpp
index 34f54152..16d94103 100644
--- a/clever/src/vpe_publisher.cpp
+++ b/clever/src/vpe_publisher.cpp
@@ -24,6 +24,7 @@
 using std::string;
 using namespace geometry_msgs;
 
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -84,13 +85,14 @@ void callback(const T& msg)
 
 		// offset
 		if (!offset_frame_id.empty()) {
-			if (msg->header.stamp - vpe.header.stamp > offset_timeout) {
+			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
 				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
 				                                   msg->header.stamp, ros::Duration(0.02));
 				// offset.header.frame_id = vpe.header.frame_id;
 				offset.child_frame_id = offset_frame_id;
 				br.sendTransform(offset);
+				reset_flag = false;
 				ROS_INFO("offset reset");
 			}
 			// apply the offset
@@ -106,6 +108,13 @@ void callback(const T& msg)
 	}
 }
 
+bool reset(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	reset_flag = true;
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv) {
 	ros::init(argc, argv, "vpe_publisher");
 	ros::NodeHandle nh, nh_priv("~");
@@ -139,6 +148,8 @@ int main(int argc, char **argv) {
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 
+	auto reset_serv = nh_priv.advertiseService("reset", &reset);
+
 	ROS_INFO("ready");
 	ros::spin();
 }