diff --git a/Runtime/Tx/Msgs/Nav/OdometryTx.cs b/Runtime/Tx/Msgs/Nav/OdometryTx.cs
index 522377e..3703235 100644
--- a/Runtime/Tx/Msgs/Nav/OdometryTx.cs
+++ b/Runtime/Tx/Msgs/Nav/OdometryTx.cs
@@ -78,11 +78,16 @@ protected override ProBridge.Msg GetMsg(TimeSpan ts)
                 data.pose.pose.position.x += GaussianNoise.Generate(positionNoiseStdDev);
                 data.pose.pose.position.y += GaussianNoise.Generate(positionNoiseStdDev);
                 data.pose.pose.position.z += GaussianNoise.Generate(positionNoiseStdDev);
+
+                var qNoise = Quaternion.Euler(
+                    GaussianNoise.Generate(rotationNoiseStdDev),
+                    GaussianNoise.Generate(rotationNoiseStdDev),
+                    GaussianNoise.Generate(rotationNoiseStdDev)
+                );
+
+                var orientationWithNoise = data.pose.pose.orientation.FromRos() * qNoise;
                 
-                data.pose.pose.orientation.x += GaussianNoise.Generate(rotationNoiseStdDev);
-                data.pose.pose.orientation.y += GaussianNoise.Generate(rotationNoiseStdDev);
-                data.pose.pose.orientation.z += GaussianNoise.Generate(rotationNoiseStdDev);
-                data.pose.pose.orientation.w += GaussianNoise.Generate(rotationNoiseStdDev);
+                data.pose.pose.orientation = orientationWithNoise.ToRos();
                 
                 data.twist.twist.linear.x += GaussianNoise.Generate(linearVelocityNoiseStdDev);
                 data.twist.twist.linear.y += GaussianNoise.Generate(linearVelocityNoiseStdDev);