diff --git a/anchor.service b/anchor.service
new file mode 100644
index 0000000..7b95062
--- /dev/null
+++ b/anchor.service
@@ -0,0 +1,14 @@
+[Unit]
+Description=Autostart the anchor node for controlling the rover and its modules
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/auto_start/auto_start_anchor.sh
+Restart=always
+RestartSec=5
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target
diff --git a/auto_start/auto_start_anchor.sh b/auto_start/auto_start_anchor.sh
new file mode 100755
index 0000000..724062c
--- /dev/null
+++ b/auto_start/auto_start_anchor.sh
@@ -0,0 +1,24 @@
+#!/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 with the desired mode
+ros2 launch rover_launch.py mode:=anchor
diff --git a/auto_start/auto_start_core_headless.sh b/auto_start/auto_start_core_headless.sh
new file mode 100755
index 0000000..b59126b
--- /dev/null
+++ b/auto_start/auto_start_core_headless.sh
@@ -0,0 +1,24 @@
+#!/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 core_pkg headless
diff --git a/core_headless.service b/core_headless.service
new file mode 100644
index 0000000..035ba56
--- /dev/null
+++ b/core_headless.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_core_headless.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target