diff --git a/auto_start/auto_start_anchor.sh b/auto_start/auto_start_anchor.sh
index 9eebc57..96fb7ad 100755
--- a/auto_start/auto_start_anchor.sh
+++ b/auto_start/auto_start_anchor.sh
@@ -1,12 +1,12 @@
 #!/usr/bin/env bash
 set -e
 
-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
 
 # 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
+  echo "[INFO] Waiting for active network interface..."
+  sleep 1
 done
 
 echo "[INFO] Network interface is up!"
@@ -16,9 +16,9 @@ echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
 if command -v nixos-rebuild; then
-    echo "[INFO] running on NixOS"
+  echo "[INFO] running on NixOS"
 else
-    source /opt/ros/humble/setup.bash
+  source /opt/ros/humble/setup.bash
 fi
 
 # Source your workspace setup script
diff --git a/auto_start/auto_start_headless_full.sh b/auto_start/auto_start_headless_full.sh
index 8fb6e25..db5c76c 100755
--- a/auto_start/auto_start_headless_full.sh
+++ b/auto_start/auto_start_headless_full.sh
@@ -1,12 +1,12 @@
 #!/usr/bin/env bash
 set -e
 
-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
 
 # 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
+  echo "[INFO] Waiting for active network interface..."
+  sleep 1
 done
 
 echo "[INFO] Network interface is up!"
@@ -16,9 +16,9 @@ echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
 if command -v nixos-rebuild; then
-    echo "[INFO] running on NixOS"
+  echo "[INFO] running on NixOS"
 else
-    source /opt/ros/humble/setup.bash
+  source /opt/ros/humble/setup.bash
 fi
 
 # Source your workspace setup script
@@ -26,4 +26,3 @@ source $SCRIPT_DIR/../install/setup.bash
 
 # Launch the ROS 2 node
 ros2 run headless_pkg headless_full
-
diff --git a/auto_start/start_rosbag.sh b/auto_start/start_rosbag.sh
index ac00fa0..8512486 100755
--- a/auto_start/start_rosbag.sh
+++ b/auto_start/start_rosbag.sh
@@ -1,26 +1,25 @@
 #!/usr/bin/env bash
 set -e
 
-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
 
-[[ -z "$ANCHOR_WS" ]] && ANCHOR_WS="$SCRIPT_DIR/.."
-[[ -z "$AUTONOMY_WS" ]] && AUTONOMY_WS="$HOME/rover-Autonomy"
+[[ -z $ANCHOR_WS ]] && ANCHOR_WS="$SCRIPT_DIR/.."
+[[ -z $AUTONOMY_WS ]] && AUTONOMY_WS="$HOME/rover-Autonomy"
 BAG_LOCATION="$HOME/bags/autostart"
-[[ ! -d "$BAG_LOCATION" ]] && mkdir -p "$BAG_LOCATION"
+[[ ! -d $BAG_LOCATION ]] && mkdir -p "$BAG_LOCATION"
 
 # 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
+  echo "[INFO] Waiting for active network interface..."
+  sleep 1
 done
 
 echo "[INFO] Network interface is up!"
 
-
 if command -v nixos-rebuild; then
-    echo "[INFO] running on NixOS"
+  echo "[INFO] running on NixOS"
 else
-    source /opt/ros/humble/setup.bash
+  source /opt/ros/humble/setup.bash
 fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
diff --git a/scripts/reset-repo.bash b/scripts/reset-repo.bash
index dc7d418..8a60d4f 100755
--- a/scripts/reset-repo.bash
+++ b/scripts/reset-repo.bash
@@ -3,8 +3,8 @@
 repo_root="$(git rev-parse --show-toplevel)"
 
 if [[ -z $repo_root ]]; then
-	echo "script must be run from within the rover-ros2 repo" >&2
-	exit 1
+  echo "script must be run from within the rover-ros2 repo" >&2
+  exit 1
 fi
 
 cd $repo_root
@@ -12,9 +12,9 @@ cd $repo_root
 echo "this will nuke all of your current un-commited git changes, including any changes to submodules and any gitignored files. is this okay? (y/N)"
 read okay
 
-if [[ ! "$okay" = "y" ]]; then
-	echo "you didn't say exactly 'y'. aborting." >&2
-	exit 2
+if [[ ! $okay == "y" ]]; then
+  echo "you didn't say exactly 'y'. aborting." >&2
+  exit 2
 fi
 
 echo
@@ -30,9 +30,8 @@ echo "in theory that should've done it. let's make sure"
 status=$(git status --porcelain)
 echo $status
 if [[ -z $status ]]; then
-	echo "nice, all clean!"
+  echo "nice, all clean!"
 else
-	echo "uhh that's not supposed to be there. this is probably a bug in this script. good luck!" >&2
-	exit 3
+  echo "uhh that's not supposed to be there. this is probably a bug in this script. good luck!" >&2
+  exit 3
 fi
-
diff --git a/scripts/test-connectors.bash b/scripts/test-connectors.bash
index a739243..591601e 100755
--- a/scripts/test-connectors.bash
+++ b/scripts/test-connectors.bash
@@ -7,8 +7,8 @@ set -o pipefail
 repo_root="$(git rev-parse --show-toplevel)"
 
 if [[ -z $repo_root ]]; then
-	echo "script must be run from within the rover-ros2 repo" >&2
-	exit 1
+  echo "script must be run from within the rover-ros2 repo" >&2
+  exit 1
 fi
 
 cd "$repo_root"
@@ -23,78 +23,78 @@ TESTS_PASSED=0
 TESTS_FAILED=0
 
 log() {
-	echo -e "${BOLD}${YELLOW}info:${NC} ${1}"
+  echo -e "${BOLD}${YELLOW}info:${NC} ${1}"
 }
 
 pass() {
-	echo -e "${BOLD}${GREEN}pass:${NC} ${1}"
-	TESTS_PASSED=$((TESTS_PASSED + 1))
+  echo -e "${BOLD}${GREEN}pass:${NC} ${1}"
+  TESTS_PASSED=$((TESTS_PASSED + 1))
 }
 
 fail() {
-	echo -e "${BOLD}${RED}fail:${NC} ${1}"
-	TESTS_FAILED=$((TESTS_FAILED + 1))
+  echo -e "${BOLD}${RED}fail:${NC} ${1}"
+  TESTS_FAILED=$((TESTS_FAILED + 1))
 }
 
 cleanup() {
-	log "cleaning up"
-	if [[ -n $ANCHOR_PID ]]; then
-		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-		wait "$ANCHOR_PID" 2>/dev/null || true
-	fi
-	if [[ -n $SOCAT_PID ]]; then
-		kill -INT "$SOCAT_PID" 2>/dev/null || true
-		wait "$SOCAT_PID" 2>/dev/null || true
-	fi
-	rm -f /tmp/ttyACM9 /tmp/ttyOUT 2>/dev/null || true
+  log "cleaning up"
+  if [[ -n $ANCHOR_PID ]]; then
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    wait "$ANCHOR_PID" 2>/dev/null || true
+  fi
+  if [[ -n $SOCAT_PID ]]; then
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    wait "$SOCAT_PID" 2>/dev/null || true
+  fi
+  rm -f /tmp/ttyACM9 /tmp/ttyOUT 2>/dev/null || true
 }
 
 trap cleanup EXIT
 
 source_ros2() {
-	source install/setup.bash
+  source install/setup.bash
 }
 
 wait_for_topic() {
-	local topic="$1"
-	local timeout="${2:-5}"
-	local count=0
-	while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do
-		sleep 0.5
-		count=$((count + 1))
-		if [[ $count -ge $((timeout * 2)) ]]; then
-			return 1
-		fi
-	done
-	return 0
+  local topic="$1"
+  local timeout="${2:-5}"
+  local count=0
+  while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do
+    sleep 0.5
+    count=$((count + 1))
+    if [[ $count -ge $((timeout * 2)) ]]; then
+      return 1
+    fi
+  done
+  return 0
 }
 
 test_mock_connector() {
-	log "testing mock connector"
+  log "testing mock connector"
 
-	log "starting anchor with mock connector"
-	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=mock &
-	ANCHOR_PID=$!
-	sleep 2
+  log "starting anchor with mock connector"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=mock &
+  ANCHOR_PID=$!
+  sleep 2
 
-	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
-		fail "mock connector: anchor failed to start"
-		return 1
-	fi
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "mock connector: anchor failed to start"
+    return 1
+  fi
 
-	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
-		fail "mock connector: topics not available"
-		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-		return 1
-	fi
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "mock connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    return 1
+  fi
 
-	log "anchor started successfully"
+  log "anchor started successfully"
 
-	# relay -> debug
-	log "testing relay -> debug"
+  # relay -> debug
+  log "testing relay -> debug"
 
-	local debug_output
-	debug_output=$(timeout 5 bash -c '
+  local debug_output
+  debug_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/to_vic/debug &
 		ECHO_PID=$!
 		sleep 0.5
@@ -102,17 +102,17 @@ test_mock_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if [[ -n "$debug_output" ]] && echo "$debug_output" | grep -q "can_relay_tovic,core,50"; then
-		pass "mock connector: relay -> debug"
-	else
-		fail "mock connector: relay -> debug"
-	fi
+  if [[ -n $debug_output ]] && echo "$debug_output" | grep -q "can_relay_tovic,core,50"; then
+    pass "mock connector: relay -> debug"
+  else
+    fail "mock connector: relay -> debug"
+  fi
 
-	# mock_mcu -> from_vic/core
-	log "testing mock_mcu (core) -> from_vic/core"
+  # mock_mcu -> from_vic/core
+  log "testing mock_mcu (core) -> from_vic/core"
 
-	local core_output=""
-	core_output=$(timeout 5 bash -c '
+  local core_output=""
+  core_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/from_vic/core &
 		ECHO_PID=$!
 		sleep 0.5
@@ -120,17 +120,17 @@ test_mock_connector() {
 		wait $ECHO_PID || true
 	' 2>/dev/null || true) || core_output=""
 
-	if [[ -n "$core_output" ]] && echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 10"; then
-		pass "mock connector: mock_mcu -> from_vic/core"
-	else
-		fail "mock connector: mock_mcu -> from_vic/core"
-	fi
+  if [[ -n $core_output ]] && echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 10"; then
+    pass "mock connector: mock_mcu -> from_vic/core"
+  else
+    fail "mock connector: mock_mcu -> from_vic/core"
+  fi
 
-	# mock_mcu -> from_vic/arm
-	log "testing mock_mcu (arm) -> from_vic/arm"
+  # mock_mcu -> from_vic/arm
+  log "testing mock_mcu (arm) -> from_vic/arm"
 
-	local arm_output
-	arm_output=$(timeout 5 bash -c '
+  local arm_output
+  arm_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/from_vic/arm &
 		ECHO_PID=$!
 		sleep 0.5
@@ -138,17 +138,17 @@ test_mock_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if [[ -n "$arm_output" ]] && echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 55"; then
-		pass "mock connector: mock_mcu -> from_vic/arm"
-	else
-		fail "mock connector: mock_mcu -> from_vic/arm"
-	fi
+  if [[ -n $arm_output ]] && echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 55"; then
+    pass "mock connector: mock_mcu -> from_vic/arm"
+  else
+    fail "mock connector: mock_mcu -> from_vic/arm"
+  fi
 
-	# mock_mcu -> from_vic/bio
-	log "testing mock_mcu (citadel) -> from_vic/bio"
+  # mock_mcu -> from_vic/bio
+  log "testing mock_mcu (citadel) -> from_vic/bio"
 
-	local bio_output
-	bio_output=$(timeout 5 bash -c '
+  local bio_output
+  bio_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/from_vic/bio &
 		ECHO_PID=$!
 		sleep 0.5
@@ -156,17 +156,17 @@ test_mock_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if echo "$bio_output" | grep -q "mcu_name: citadel" && echo "$bio_output" | grep -q "command_id: 20"; then
-		pass "mock connector: mock_mcu -> from_vic/bio"
-	else
-		fail "mock connector: mock_mcu -> from_vic/bio"
-	fi
+  if echo "$bio_output" | grep -q "mcu_name: citadel" && echo "$bio_output" | grep -q "command_id: 20"; then
+    pass "mock connector: mock_mcu -> from_vic/bio"
+  else
+    fail "mock connector: mock_mcu -> from_vic/bio"
+  fi
 
-	# relay_string -> debug
-	log "testing relay_string -> debug"
+  # relay_string -> debug
+  log "testing relay_string -> debug"
 
-	local relay_string_output
-	relay_string_output=$(timeout 5 bash -c '
+  local relay_string_output
+  relay_string_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/to_vic/debug &
 		ECHO_PID=$!
 		sleep 0.5
@@ -174,55 +174,55 @@ test_mock_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if [[ -n "$relay_string_output" ]] && echo "$relay_string_output" | grep -q "test_raw_string_data"; then
-		pass "mock connector: relay_string -> debug"
-	else
-		fail "mock connector: relay_string -> debug"
-	fi
+  if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "test_raw_string_data"; then
+    pass "mock connector: relay_string -> debug"
+  else
+    fail "mock connector: relay_string -> debug"
+  fi
 
-	kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-	wait "$ANCHOR_PID" 2>/dev/null || true
-	ANCHOR_PID=""
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
 }
 
 test_serial_connector() {
-	log "testing serial connector"
+  log "testing serial connector"
 
-	log "creating virtual serial ports with socat"
-	socat pty,raw,echo=0,link=/tmp/ttyACM9 pty,raw,echo=0,link=/tmp/ttyOUT 2>/dev/null &
-	SOCAT_PID=$!
-	sleep 2
+  log "creating virtual serial ports with socat"
+  socat pty,raw,echo=0,link=/tmp/ttyACM9 pty,raw,echo=0,link=/tmp/ttyOUT 2>/dev/null &
+  SOCAT_PID=$!
+  sleep 2
 
-	if ! kill -0 "$SOCAT_PID" 2>/dev/null; then
-		fail "serial connector: failed to create virtual serial ports"
-		return 1
-	fi
+  if ! kill -0 "$SOCAT_PID" 2>/dev/null; then
+    fail "serial connector: failed to create virtual serial ports"
+    return 1
+  fi
 
-	log "starting anchor with serial connector (override: /tmp/ttyACM9)"
-	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=serial -p serial_override:=/tmp/ttyACM9 &
-	ANCHOR_PID=$!
-	sleep 2
+  log "starting anchor with serial connector (override: /tmp/ttyACM9)"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=serial -p serial_override:=/tmp/ttyACM9 &
+  ANCHOR_PID=$!
+  sleep 2
 
-	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
-		fail "serial connector: anchor failed to start"
-		kill -INT "$SOCAT_PID" 2>/dev/null || true
-		return 1
-	fi
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "serial connector: anchor failed to start"
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    return 1
+  fi
 
-	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
-		fail "serial connector: topics not available"
-		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-		kill -INT "$SOCAT_PID" 2>/dev/null || true
-		return 1
-	fi
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "serial connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    kill -INT "$SOCAT_PID" 2>/dev/null || true
+    return 1
+  fi
 
-	pass "serial connector: anchor starts with virtual serial"
+  pass "serial connector: anchor starts with virtual serial"
 
-	# relay_string -> debug
-	log "testing relay_string -> debug"
+  # relay_string -> debug
+  log "testing relay_string -> debug"
 
-	local relay_string_output
-	relay_string_output=$(timeout 5 bash -c '
+  local relay_string_output
+  relay_string_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/to_vic/debug &
 		ECHO_PID=$!
 		sleep 0.5
@@ -230,49 +230,49 @@ test_serial_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if [[ -n "$relay_string_output" ]] && echo "$relay_string_output" | grep -q "serial_test_string"; then
-		pass "serial connector: relay_string -> debug"
-	else
-		fail "serial connector: relay_string -> debug"
-	fi
+  if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "serial_test_string"; then
+    pass "serial connector: relay_string -> debug"
+  else
+    fail "serial connector: relay_string -> debug"
+  fi
 
-	log "serial data transfer tests skipped (virtual pty limitation)"
+  log "serial data transfer tests skipped (virtual pty limitation)"
 
-	kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-	wait "$ANCHOR_PID" 2>/dev/null || true
-	ANCHOR_PID=""
-	kill -INT "$SOCAT_PID" 2>/dev/null || true
-	wait "$SOCAT_PID" 2>/dev/null || true
-	SOCAT_PID=""
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
+  kill -INT "$SOCAT_PID" 2>/dev/null || true
+  wait "$SOCAT_PID" 2>/dev/null || true
+  SOCAT_PID=""
 }
 
 test_can_connector() {
-	log "testing CAN connector"
+  log "testing CAN connector"
 
-	log "starting anchor with CAN connector (override: vcan0)"
-	setsid ros2 run anchor_pkg anchor --ros-args -p connector:=can -p can_override:=vcan0 &
-	ANCHOR_PID=$!
-	sleep 2
+  log "starting anchor with CAN connector (override: vcan0)"
+  setsid ros2 run anchor_pkg anchor --ros-args -p connector:=can -p can_override:=vcan0 &
+  ANCHOR_PID=$!
+  sleep 2
 
-	if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
-		fail "CAN connector: anchor failed to start"
-		return 1
-	fi
+  if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
+    fail "CAN connector: anchor failed to start"
+    return 1
+  fi
 
-	if ! wait_for_topic "/anchor/to_vic/relay" 10; then
-		fail "CAN connector: topics not available"
-		kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-		return 1
-	fi
+  if ! wait_for_topic "/anchor/to_vic/relay" 10; then
+    fail "CAN connector: topics not available"
+    kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+    return 1
+  fi
 
-	log "anchor started successfully"
-	sleep 1
+  log "anchor started successfully"
+  sleep 1
 
-	# relay -> CAN bus
-	log "testing relay -> CAN bus"
+  # relay -> CAN bus
+  log "testing relay -> CAN bus"
 
-	local can_output
-	can_output=$(timeout 8 bash -c '
+  local can_output
+  can_output=$(timeout 8 bash -c '
 		candump -n 1 vcan0 &
 		DUMP_PID=$!
 		sleep 1
@@ -282,18 +282,18 @@ test_can_connector() {
 		wait $DUMP_PID
 	' 2>/dev/null) || true
 
-	# core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
-	if echo "$can_output" | grep -qi "19E"; then
-		pass "CAN connector: relay -> CAN bus"
-	else
-		fail "CAN connector: relay -> CAN bus (got: $can_output)"
-	fi
+  # core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
+  if echo "$can_output" | grep -qi "19E"; then
+    pass "CAN connector: relay -> CAN bus"
+  else
+    fail "CAN connector: relay -> CAN bus (got: $can_output)"
+  fi
 
-	# CAN -> from_vic/core
-	log "testing CAN bus -> from_vic/core"
+  # CAN -> from_vic/core
+  log "testing CAN bus -> from_vic/core"
 
-	local core_output
-	core_output=$(timeout 5 bash -c '
+  local core_output
+  core_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/from_vic/core &
 		ECHO_PID=$!
 		sleep 1
@@ -303,17 +303,17 @@ test_can_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
-		pass "CAN connector: CAN -> from_vic/core"
-	else
-		fail "CAN connector: CAN -> from_vic/core"
-	fi
+  if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
+    pass "CAN connector: CAN -> from_vic/core"
+  else
+    fail "CAN connector: CAN -> from_vic/core"
+  fi
 
-	# CAN -> from_vic/arm
-	log "testing CAN bus -> from_vic/arm"
+  # CAN -> from_vic/arm
+  log "testing CAN bus -> from_vic/arm"
 
-	local arm_output
-	arm_output=$(timeout 5 bash -c '
+  local arm_output
+  arm_output=$(timeout 5 bash -c '
 		ros2 topic echo --once /anchor/from_vic/arm &
 		ECHO_PID=$!
 		sleep 1
@@ -323,17 +323,17 @@ test_can_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
-		pass "CAN connector: CAN -> from_vic/arm"
-	else
-		fail "CAN connector: CAN -> from_vic/arm"
-	fi
+  if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
+    pass "CAN connector: CAN -> from_vic/arm"
+  else
+    fail "CAN connector: CAN -> from_vic/arm"
+  fi
 
-	# double data type
-	log "testing CAN double data type"
+  # double data type
+  log "testing CAN double data type"
 
-	local double_output
-	double_output=$(timeout 8 bash -c '
+  local double_output
+  double_output=$(timeout 8 bash -c '
 		ros2 topic echo --once /anchor/from_vic/core &
 		ECHO_PID=$!
 		sleep 1
@@ -345,17 +345,17 @@ test_can_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
-		pass "CAN connector: double data type"
-	else
-		fail "CAN connector: double data type"
-	fi
+  if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
+    pass "CAN connector: double data type"
+  else
+    fail "CAN connector: double data type"
+  fi
 
-	# float32x2 data type
-	log "testing CAN float32x2 data type"
+  # float32x2 data type
+  log "testing CAN float32x2 data type"
 
-	local float_output
-	float_output=$(timeout 8 bash -c '
+  local float_output
+  float_output=$(timeout 8 bash -c '
 		ros2 topic echo --once /anchor/from_vic/core &
 		ECHO_PID=$!
 		sleep 1
@@ -367,81 +367,81 @@ test_can_connector() {
 		wait $ECHO_PID
 	' 2>/dev/null) || true
 
-	if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
-		pass "CAN connector: float32x2 data type"
-	else
-		fail "CAN connector: float32x2 data type"
-	fi
+  if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
+    pass "CAN connector: float32x2 data type"
+  else
+    fail "CAN connector: float32x2 data type"
+  fi
 
-	kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
-	wait "$ANCHOR_PID" 2>/dev/null || true
-	ANCHOR_PID=""
+  kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
+  wait "$ANCHOR_PID" 2>/dev/null || true
+  ANCHOR_PID=""
 }
 
 check_prerequisites() {
-	log "checking prerequisites"
-	local missing=0
+  log "checking prerequisites"
+  local missing=0
 
-	if [[ ! -f install/setup.bash ]]; then
-		fail "install/setup.bash not found; run 'colcon build' first"
-		missing=1
-	fi
+  if [[ ! -f install/setup.bash ]]; then
+    fail "install/setup.bash not found; run 'colcon build' first"
+    missing=1
+  fi
 
-	if ! command -v socat &>/dev/null; then
-		fail "socat not found; install it or use 'nix develop'"
-		missing=1
-	fi
+  if ! command -v socat &>/dev/null; then
+    fail "socat not found; install it or use 'nix develop'"
+    missing=1
+  fi
 
-	if ! command -v cansend &>/dev/null || ! command -v candump &>/dev/null; then
-		fail "can-utils (cansend/candump) not found; install it or use 'nix develop'"
-		missing=1
-	fi
+  if ! command -v cansend &>/dev/null || ! command -v candump &>/dev/null; then
+    fail "can-utils (cansend/candump) not found; install it or use 'nix develop'"
+    missing=1
+  fi
 
-	if ! ip link show vcan0 &>/dev/null; then
-		fail "vcan0 interface not found"
-		log "  create it with:"
-		log "    sudo ip link add dev vcan0 type vcan"
-		log "    sudo ip link set vcan0 up"
-		missing=1
-	elif ! ip link show vcan0 | grep -q ",UP"; then
-		fail "vcan0 exists but is not UP"
-		log "  enable it with: sudo ip link set vcan0 up"
-		missing=1
-	fi
+  if ! ip link show vcan0 &>/dev/null; then
+    fail "vcan0 interface not found"
+    log "  create it with:"
+    log "    sudo ip link add dev vcan0 type vcan"
+    log "    sudo ip link set vcan0 up"
+    missing=1
+  elif ! ip link show vcan0 | grep -q ",UP"; then
+    fail "vcan0 exists but is not UP"
+    log "  enable it with: sudo ip link set vcan0 up"
+    missing=1
+  fi
 
-	if [[ $missing -eq 1 ]]; then
-		echo ""
-		log "prerequisites not met"
-		exit 1
-	fi
+  if [[ $missing -eq 1 ]]; then
+    echo ""
+    log "prerequisites not met"
+    exit 1
+  fi
 
-	log "all prerequisites met"
+  log "all prerequisites met"
 }
 
 main() {
-	echo ""
-	log "anchor connector test suite"
-	echo ""
+  echo ""
+  log "anchor connector test suite"
+  echo ""
 
-	check_prerequisites
+  check_prerequisites
 
-	log "sourcing ROS2 workspace"
-	source_ros2
+  log "sourcing ROS2 workspace"
+  source_ros2
 
-	test_mock_connector
-	test_serial_connector
-	test_can_connector
+  test_mock_connector
+  test_serial_connector
+  test_can_connector
 
-	echo ""
-	log "test summary"
-	echo -e "${BOLD}${GREEN}passed:${NC} $TESTS_PASSED"
-	echo -e "${BOLD}${RED}failed:${NC} $TESTS_FAILED"
-	echo ""
+  echo ""
+  log "test summary"
+  echo -e "${BOLD}${GREEN}passed:${NC} $TESTS_PASSED"
+  echo -e "${BOLD}${RED}failed:${NC} $TESTS_FAILED"
+  echo ""
 
-	if [[ $TESTS_FAILED -gt 0 ]]; then
-		exit 1
-	fi
-	exit 0
+  if [[ $TESTS_FAILED -gt 0 ]]; then
+    exit 1
+  fi
+  exit 0
 }
 
 main "$@"
diff --git a/treefmt.nix b/treefmt.nix
index 6bd693c..34578c5 100644
--- a/treefmt.nix
+++ b/treefmt.nix
@@ -1,8 +1,9 @@
-{ pkgs, ... }:
+{ ... }:
 {
   projectRootFile = "flake.nix";
   programs = {
     nixfmt.enable = true;
     black.enable = true;
+    shfmt.enable = true;
   };
 }