diff --git a/software/ros_packages/ground_station/scripts/ground_station_launch.sh b/software/ros_packages/ground_station/scripts/ground_station_launch.sh
index ba27a66..d5ceac8 100755
--- a/software/ros_packages/ground_station/scripts/ground_station_launch.sh
+++ b/software/ros_packages/ground_station/scripts/ground_station_launch.sh
@@ -11,7 +11,7 @@ launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_n
 script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
 cd $script_launch_path
 
-sleep 5
+sleep 3
 
 export DISPLAY=:0
 python ground_station.py
\ No newline at end of file
diff --git a/software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py b/software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
index e98bccb..eebfd87 100644
--- a/software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
+++ b/software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py
@@ -19,8 +19,8 @@ DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_dri
 
 DRIVE_COMMAND_HERTZ = 15
 
-Y_AXIS_DEADBAND = 0.025
-X_AXIS_DEADBAND = 0.025
+Y_AXIS_DEADBAND = 0.05
+X_AXIS_DEADBAND = 0.05
 
 THROTTLE_MIN = 0.05
 
diff --git a/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py b/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
index 44587f3..3d37fbb 100755
--- a/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
+++ b/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
@@ -23,7 +23,7 @@ DEFAULT_RIGHT_BOGIE_TOPIC = "drive_control/right"
 
 UINT16_MAX = 65535
 
-DEFAULT_HERTZ = 20
+DEFAULT_HERTZ = 30
 
 WATCHDOG_TIMEOUT = 0.3
 
@@ -136,7 +136,7 @@ class DriveCoordinator(object):
 
     def iris_drive_command_callback(self, drive_command):
         self.drive_command_data["iris"]["message"] = drive_command
-        self.drive_command_data["iris"]["last_time"] =  time()
+        self.drive_command_data["iris"]["last_time"] = time()
 
     def ground_station_drive_command_callback(self, drive_command):
         self.drive_command_data["ground_station"]["message"] = drive_command
diff --git a/software/ros_packages/rover_control/src/drive_control/drive_control.py b/software/ros_packages/rover_control/src/drive_control/drive_control.py
index 51386d6..8879f4f 100755
--- a/software/ros_packages/rover_control/src/drive_control/drive_control.py
+++ b/software/ros_packages/rover_control/src/drive_control/drive_control.py
@@ -29,11 +29,13 @@ DEFAULT_DRIVE_CONTROL_STATUS_TOPIC = "drive_status/rear"
 FIRST_MOTOR_ID = 1
 SECOND_MOTOR_ID = 2
 
-COMMUNICATIONS_TIMEOUT = 0.15  # Seconds
+COMMUNICATIONS_TIMEOUT = 0.01  # Seconds
 
 RX_DELAY = 0.01
 TX_DELAY = 0.01
 
+DEFAULT_HERTZ = 20
+
 MODBUS_REGISTERS = {
     "DIRECTION": 0,
     "SPEED": 1,
@@ -71,6 +73,8 @@ class DriveControl(object):
 
         self.drive_control_status_topic = rospy.get_param("~drive_control_status_topic", DEFAULT_DRIVE_CONTROL_STATUS_TOPIC)
 
+        self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
+
         self.first_motor = minimalmodbus.Instrument(self.port, FIRST_MOTOR_ID)
         self.second_motor = minimalmodbus.Instrument(self.port, SECOND_MOTOR_ID)
         self.__setup_minimalmodbus_for_485()
@@ -98,9 +102,18 @@ class DriveControl(object):
 
     def run(self):
         while not rospy.is_shutdown():
-            self.send_drive_control_message()
-            self.get_drive_status()
-            sleep(0.005)
+            start_time = time()
+
+            try:
+                self.send_drive_control_message()
+                self.get_drive_status()
+
+            except Exception, error:
+                print "Error occurred:", error
+
+            time_diff = time() - start_time
+
+            sleep(max(self.wait_time - time_diff, 0))
 
     def send_drive_control_message(self):
         if self.new_control_message:
diff --git a/software/ros_packages/rover_main/launch/ground_station.launch b/software/ros_packages/rover_main/launch/ground_station.launch
index e88ca62..beb98e8 100644
--- a/software/ros_packages/rover_main/launch/ground_station.launch
+++ b/software/ros_packages/rover_main/launch/ground_station.launch
@@ -4,5 +4,5 @@
     <include file="$(find rover_main)/launch/ground_station/topic_transport_receivers.launch"/>
 
     <!-- ########## Start Ground Station Interface ########## -->
-    <node name="ground_station" pkg="ground_station" type="ground_station_launch.sh" output="screen"/>
+    <node name="ground_station" pkg="ground_station" type="ground_station_launch.sh" required="true" output="screen"/>
 </launch>
\ No newline at end of file
diff --git a/software/ros_packages/rover_main/launch/rover/control.launch b/software/ros_packages/rover_main/launch/rover/control.launch
index 540ee4f..b7feb7c 100644
--- a/software/ros_packages/rover_main/launch/rover/control.launch
+++ b/software/ros_packages/rover_main/launch/rover/control.launch
@@ -2,7 +2,7 @@
     <group ns="rover_control">
         <node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
             <param name="port" value="/dev/rover/ttyIRIS"/>
-            <param name="hertz" value="14"/>
+            <param name="hertz" value="20"/>
         </node>
 
         <node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">