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 b2abd8a..0aecb2f 100644
--- a/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
+++ b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
@@ -7,20 +7,20 @@
 # 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}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_0_0"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_0_1"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_0_2"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2NFZVA", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
+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"
+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}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_1_1"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_1_2"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2RJ8G5", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_1_1"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_1_2"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
 
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_2_2"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyIRIS_2_1"
+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"
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 96c99de..89ea46b 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
@@ -91,10 +91,10 @@ class DriveCoordinator(object):
             sleep(max(self.wait_time - time_diff, 0))
 
     def process_drive_commands(self):
-        # if not self.drive_command_data["iris"]["message"].ignore_drive_control:
-        #     self.send_drive_control_command(self.drive_command_data["iris"])
-        # else:
-        self.send_drive_control_command(self.drive_command_data["ground_station"])
+        if not self.drive_command_data["iris"]["message"].ignore_drive_control:
+            self.send_drive_control_command(self.drive_command_data["iris"])
+        else:
+            self.send_drive_control_command(self.drive_command_data["ground_station"])
 
     def send_drive_control_command(self, drive_command_data):
 
diff --git a/software/ros_packages/rover_main/launch/rover.launch b/software/ros_packages/rover_main/launch/rover.launch
index 4352782..5a817b2 100644
--- a/software/ros_packages/rover_main/launch/rover.launch
+++ b/software/ros_packages/rover_main/launch/rover.launch
@@ -9,7 +9,7 @@
     <include file="$(find rover_main)/launch/rover/status.launch"/>
 
     <!-- ########## Start Nimbro Topic Transport Nodes ########## -->
-    <include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>
-    <include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>
+    <!--<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>-->
+    <!--<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>-->
 
 </launch>
diff --git a/software/ros_packages/rover_main/launch/rover/cameras.launch b/software/ros_packages/rover_main/launch/rover/cameras.launch
index 8ac5550..b6fc669 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 @@
 <launch>
     <group ns="cameras">
         <!-- Start Undercarriage Camera -->
-        <node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
-            <param name="device_path" value="/dev/rover/camera_undercarriage"/>
-        </node>
+        <!--<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">-->
+            <!--<param name="device_path" value="/dev/rover/camera_undercarriage"/>-->
+        <!--</node>-->
 
-        <!-- Start Main Navigation Camera -->
-        <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >
-            <param name="device_path" value="/dev/rover/camera_main_navigation" />
-        </node>
+        <!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->
+        <!--<node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >-->
+            <!--<param name="device_path" value="/dev/rover/camera_main_navigation" />-->
+        <!--</node>-->
 
-        <!-- Start Chassis Camera -->
-        <node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
-            <param name="device_path" value="/dev/rover/camera_chassis" />
-        </node>
+        <!--&lt;!&ndash; Start Chassis Camera &ndash;&gt;-->
+        <!--<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >-->
+            <!--<param name="device_path" value="/dev/rover/camera_chassis" />-->
+        <!--</node>-->
 
-        <!-- Start End Effector Camera -->
-        <node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
-            <param name="is_rtsp_camera" value="True" />
-            <param name="device_path" value="rtsp://192.168.1.11" />
-        </node>
+        <!--&lt;!&ndash; Start End Effector Camera &ndash;&gt;-->
+        <!--<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >-->
+            <!--<param name="is_rtsp_camera" value="True" />-->
+            <!--<param name="device_path" value="rtsp://192.168.1.11" />-->
+        <!--</node>-->
     </group>
 </launch>
diff --git a/software/ros_packages/rover_main/launch/rover/control.launch b/software/ros_packages/rover_main/launch/rover/control.launch
index 37dbc7f..63a408b 100644
--- a/software/ros_packages/rover_main/launch/rover/control.launch
+++ b/software/ros_packages/rover_main/launch/rover/control.launch
@@ -1,16 +1,18 @@
 <launch>
     <group ns="rover_control">
-        <!--<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">-->
-            <!--<param name="port" value="/dev/rover/ttyIRIS"/>-->
-            <!--<param name="hertz" value="20"/>-->
-        <!--</node>-->
+        <node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
+            <param name="port" value="/dev/rover/ttyIRIS"/>
+            <param name="hertz" value="20"/>
+        </node>
 
         <node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
             <param name="port" value="/dev/rover/ttyREAR"/>
             <param name="drive_control_topic" value="drive_control/rear"/>
             <param name="drive_control_status_topic" value="drive_status/rear"/>
-            <param name="first_motor_id" value="2"/>
-            <param name="second_motor_id" value="1"/>
+            <param name="first_motor_id" value="1"/>
+            <param name="second_motor_id" value="2"/>
+            <param name="invert_first_motor" value="True"/>
+            <param name="invert_second_motor" value="True"/>
         </node>
 
         <node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">