diff --git a/auto_start/auto_start_headless_full.sh b/auto_start/auto_start_headless_full.sh
new file mode 100755
index 0000000..488e033
--- /dev/null
+++ b/auto_start/auto_start_headless_full.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node
+ros2 run headless_pkg headless_full
+
diff --git a/headless_full.service b/headless_full.service
new file mode 100644
index 0000000..ab79084
--- /dev/null
+++ b/headless_full.service
@@ -0,0 +1,14 @@
+[Unit]
+Description=Autostart headless core node for controlling the rover without a base station
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/auto_start/auto_start_headless_full.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target
diff --git a/src/headless_pkg/setup.cfg b/src/headless_pkg/setup.cfg
index 6391d1a..b9bc220 100644
--- a/src/headless_pkg/setup.cfg
+++ b/src/headless_pkg/setup.cfg
@@ -1,4 +1,4 @@
 [develop]
-script_dir=$base/lib/core_pkg
+script_dir=$base/lib/headless_pkg
 [install]
-install_scripts=$base/lib/core_pkg
+install_scripts=$base/lib/headless_pkg
diff --git a/src/headless_pkg/setup.py b/src/headless_pkg/setup.py
index e65020a..97417fd 100644
--- a/src/headless_pkg/setup.py
+++ b/src/headless_pkg/setup.py
@@ -7,8 +7,7 @@ setup(
     version='0.0.0',
     packages=find_packages(exclude=['test']),
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
     install_requires=['setuptools'],
@@ -19,7 +18,7 @@ setup(
     license='All Rights Reserved',
     entry_points={
         'console_scripts': [
-            "headless = headless_pkg.headless:main",
+            "headless_full = src.headless_node:main",
         ],
     },
 )
diff --git a/src/headless_pkg/core_pkg/__init__.py b/src/headless_pkg/src/__init__.py
similarity index 100%
rename from src/headless_pkg/core_pkg/__init__.py
rename to src/headless_pkg/src/__init__.py
diff --git a/src/headless_pkg/core_pkg/headless.py b/src/headless_pkg/src/headless_node.py
similarity index 100%
rename from src/headless_pkg/core_pkg/headless.py
rename to src/headless_pkg/src/headless_node.py