diff --git a/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
index 0aecb2f..b7dce53 100644
--- a/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
+++ b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
@@ -1,15 +1,16 @@
+# Examples
+#########################
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyDEV0"
-
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyDEV1"
-
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyCompass"
-
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyGPS"
+#########################
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_0_0"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_0_1"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_0_2"
+# IRIS Board Mappings
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyREAR"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyLEFT"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyRIGHT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
@@ -22,6 +23,8 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H7P0", SYMLINK+="rover/ttyREAR"
\ No newline at end of file
+
+##### Mappings from OMSI / EXPO driving with individual adapters
+# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT"
+# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT"
+# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H7P0", SYMLINK+="rover/ttyREAR"
\ No newline at end of file
diff --git a/software/ros_packages/rover_control/src/drive_control/drive_control_test.py b/software/ros_packages/rover_control/src/drive_control/drive_control_test.py
new file mode 100755
index 0000000..1100e5b
--- /dev/null
+++ b/software/ros_packages/rover_control/src/drive_control/drive_control_test.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+#####################################
+# Imports
+#####################################
+# Python native imports
+import rospy
+
+from time import time, sleep
+
+import serial.rs485
+import minimalmodbus
+
+# Custom Imports
+from rover_control.msg import DriveControlMessage
+
+rospy.init_node("tester")
+
+pub = rospy.Publisher("/drive_control/rear", DriveControlMessage, queue_size=1)
+
+sleep(1)
+
+
+while True:
+ speed = int(input("Enter Speed: "))
+
+ message = DriveControlMessage()
+ message.first_motor_speed = speed
+ message.first_motor_direction = 1
+ message.second_motor_speed = speed
+
+ pub.publish(message)
+
+ sleep(1)
+
diff --git a/software/ros_packages/rover_main/launch/rover.launch b/software/ros_packages/rover_main/launch/rover.launch
index 5a817b2..4352782 100644
--- a/software/ros_packages/rover_main/launch/rover.launch
+++ b/software/ros_packages/rover_main/launch/rover.launch
@@ -9,7 +9,7 @@
-
-
+
+
diff --git a/software/ros_packages/rover_main/launch/rover/cameras.launch b/software/ros_packages/rover_main/launch/rover/cameras.launch
index b6fc669..a5f99ad 100644
--- a/software/ros_packages/rover_main/launch/rover/cameras.launch
+++ b/software/ros_packages/rover_main/launch/rover/cameras.launch
@@ -1,24 +1,24 @@
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