diff --git a/rover_launch.py b/rover_launch.py
index 90b4485..1e24f2a 100644
--- a/rover_launch.py
+++ b/rover_launch.py
@@ -38,6 +38,16 @@ def launch_setup(context, *args, **kwargs):
                 on_exit=Shutdown()
             )
         )
+        nodes.append(
+            Node(
+                package='core_pkg',
+                executable='ptz',  # change as needed
+                name='ptz',
+                output='both'
+                # Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
+                # on_exit=Shutdown()  # Uncomment if you want to shutdown on PTZ failure
+            )
+        )
         nodes.append(
             Node(
                 package='bio_pkg',
@@ -58,7 +68,7 @@ def launch_setup(context, *args, **kwargs):
                 on_exit=Shutdown()
             )
         )
-    elif mode in ['arm', 'core', 'bio']:
+    elif mode in ['arm', 'core', 'bio', 'ptz']:
         # Only launch the node corresponding to the provided mode.
         if mode == 'arm':
             nodes.append(
@@ -93,10 +103,19 @@ def launch_setup(context, *args, **kwargs):
                     on_exit=Shutdown()
                 )
             )
+        elif mode == 'ptz':
+            nodes.append(
+                Node(
+                    package='core_pkg',
+                    executable='ptz',
+                    name='ptz',
+                    output='both'
+                    on_exit=Shutdown(), #on fail, shutdown if this was the only node to be launched
+                )
+            )
     else:
         # If an invalid mode is provided, print an error.
-        # (You might want to raise an exception or handle it differently.)
-        print("Invalid mode provided. Choose one of: arm, core, bio, anchor.")
+        print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
 
     return nodes
 
@@ -104,7 +123,7 @@ def generate_launch_description():
     declare_arg = DeclareLaunchArgument(
         'mode',
         default_value='anchor',
-        description='Launch mode: arm, core, bio, or anchor'
+        description='Launch mode: arm, core, bio, anchor, or ptz'
     )
 
     return LaunchDescription([
diff --git a/src/core_pkg/core_pkg/core_ptz.py b/src/core_pkg/core_pkg/core_ptz.py
new file mode 100644
index 0000000..be145dc
--- /dev/null
+++ b/src/core_pkg/core_pkg/core_ptz.py
@@ -0,0 +1,281 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+import asyncio
+from concurrent.futures import ThreadPoolExecutor
+import signal
+import sys
+import threading
+import time
+
+from std_msgs.msg import String
+from ros2_interfaces_pkg.msg import PtzControl, PtzFeedback
+
+# Import the SIYI SDK
+from core_pkg.siyi_sdk import (
+    SiyiGimbalCamera,
+    CommandID,
+    DataStreamType,
+    DataStreamFrequency,
+    SingleAxis,
+    AttitudeData
+)
+
+class PtzNode(Node):
+    def __init__(self):
+        # Initialize node with name
+        super().__init__("core_ptz")
+
+        # Declare parameters
+        self.declare_parameter('camera_ip', '192.168.1.17')
+        self.declare_parameter('camera_port', 37260)
+        #self.declare_parameter('launch_mode', 'core')
+        
+        # Get parameters
+        self.camera_ip = self.get_parameter('camera_ip').value
+        self.camera_port = self.get_parameter('camera_port').value
+        #self.launch_mode = self.get_parameter('launch_mode').value
+        
+        #self.get_logger().info(f"PTZ mode: {self.launch_mode}")
+        self.get_logger().info(f"PTZ camera IP: {self.camera_ip} Port: {self.camera_port}")
+        
+        # Create a camera instance
+        self.camera = None
+        self.camera_connected = False
+        self.loop = None
+        self.executor = None
+        
+        # Create publishers
+        self.feedback_pub = self.create_publisher(PtzFeedback, '/ptz/feedback', 10)
+        self.debug_pub = self.create_publisher(String, '/ptz/debug', 10)
+        
+        # Create subscribers
+        self.control_sub = self.create_subscription(
+            PtzControl, '/ptz/control', self.handle_control_command, 10)
+            
+        # Create timers
+        self.connection_timer = self.create_timer(5.0, self.check_camera_connection)
+        
+        # Create feedback message
+        self.feedback_msg = PtzFeedback()
+        self.feedback_msg.connected = False
+        self.feedback_msg.error_msg = "Initializing"
+        
+        # Flags for async operations
+        self.shutdown_requested = False
+        
+        # Set up asyncio event loop in a separate thread
+        self.executor = ThreadPoolExecutor(max_workers=1)
+        self.loop = asyncio.new_event_loop()
+        
+        # Connect to camera on startup
+        self.connect_task = self.executor.submit(
+            self.run_async_func, self.connect_to_camera()
+        )
+
+    async def connect_to_camera(self):
+        """Connect to the SIYI camera."""
+        try:
+            # Create a new camera instance
+            self.camera = SiyiGimbalCamera(ip=self.camera_ip, port=self.camera_port)
+            
+            # Connect to the camera
+            await self.camera.connect()
+            
+            # Set up data callback
+            self.camera.set_data_callback(self.camera_data_callback)
+            
+            # Request attitude data stream
+            await self.camera.send_data_stream_request(
+                DataStreamType.ATTITUDE_DATA,
+                DataStreamFrequency.HZ_10
+            )
+            
+            # Update connection status
+            self.camera_connected = True
+            self.feedback_msg.connected = True
+            self.feedback_msg.error_msg = ""
+            
+            self.get_logger().info("Connected to PTZ camera")
+            self.publish_debug("Camera connected successfully")
+            
+        except Exception as e:
+            self.camera_connected = False
+            self.feedback_msg.connected = False
+            self.feedback_msg.error_msg = f"Connection error: {str(e)}"
+            self.get_logger().error(f"Failed to connect to camera: {e}")
+            self.publish_debug(f"Camera connection failed: {str(e)}")
+
+    def camera_data_callback(self, cmd_id, data):
+        """Handle data received from the camera."""
+        if cmd_id == CommandID.ATTITUDE_DATA_RESPONSE and isinstance(data, AttitudeData):
+            # Update feedback message with attitude data
+            self.feedback_msg.yaw = data.yaw
+            self.feedback_msg.pitch = data.pitch
+            self.feedback_msg.roll = data.roll
+            self.feedback_msg.yaw_velocity = data.yaw_velocity
+            self.feedback_msg.pitch_velocity = data.pitch_velocity
+            self.feedback_msg.roll_velocity = data.roll_velocity
+            
+            # Publish feedback
+            self.feedback_pub.publish(self.feedback_msg)
+        else:
+            # Log other data for debugging
+            debug_str = f"Camera data: CMD_ID={cmd_id}, Data={data}"
+            self.get_logger().debug(debug_str)
+
+    def check_camera_connection(self):
+        """Periodically check camera connection and attempt to reconnect if needed."""
+        if not self.camera_connected and not self.shutdown_requested:
+            self.get_logger().info("Attempting to reconnect to camera...")
+            self.connect_task = self.executor.submit(
+                self.run_async_func, self.connect_to_camera()
+            )
+
+    def handle_control_command(self, msg):
+        """Handle incoming control commands."""
+        if not self.camera_connected:
+            self.get_logger().warning("Camera not connected, ignoring control command")
+            return
+            
+        # Submit the control command to the async executor
+        self.executor.submit(
+            self.run_async_func,
+            self.process_control_command(msg)
+        )
+
+    async def process_control_command(self, msg):
+        """Process and send the control command to the camera."""
+        try:
+            # Check if reset command
+            if msg.reset:
+                self.get_logger().info("Resetting camera to center position")
+                await self.camera.send_attitude_angles_command(0.0, 0.0)
+                return
+                
+            # Process based on control mode
+            if msg.control_mode == 0:  # Relative speed control
+                # Clamp values between -100 and 100
+                turn_yaw = max(-100, min(100, msg.turn_yaw))
+                turn_pitch = max(-100, min(100, msg.turn_pitch))
+                
+                self.get_logger().debug(f"Sending rotation command: yaw={turn_yaw}, pitch={turn_pitch}")
+                await self.camera.send_rotation_command(turn_yaw, turn_pitch)
+                
+            elif msg.control_mode == 1:  # Absolute angle control
+                # Clamp angles to valid ranges
+                yaw = max(-135.0, min(135.0, msg.yaw))
+                pitch = max(-90.0, min(90.0, msg.pitch))
+                
+                self.get_logger().debug(f"Sending absolute angles: yaw={yaw}, pitch={pitch}")
+                await self.camera.send_attitude_angles_command(yaw, pitch)
+                
+            elif msg.control_mode == 2:  # Single axis control
+                axis = SingleAxis.YAW if msg.axis_id == 0 else SingleAxis.PITCH
+                self.get_logger().debug(f"Sending single axis command: axis={axis.name}, angle={msg.angle}")
+                await self.camera.send_single_axis_attitude_command(msg.angle, axis)
+                
+            # Handle data streaming configuration if requested
+            if msg.stream_type > 0 and msg.stream_freq >= 0:
+                try:
+                    stream_type = DataStreamType(msg.stream_type)
+                    stream_freq = DataStreamFrequency(msg.stream_freq)
+                    
+                    self.get_logger().info(
+                        f"Setting data stream: type={stream_type.name}, freq={stream_freq.name}"
+                    )
+                    
+                    await self.camera.send_data_stream_request(stream_type, stream_freq)
+                    
+                except ValueError:
+                    self.get_logger().error("Invalid stream type or frequency values")
+                    
+        except Exception as e:
+            self.get_logger().error(f"Error processing control command: {e}")
+            self.feedback_msg.error_msg = f"Control error: {str(e)}"
+            self.feedback_pub.publish(self.feedback_msg)
+
+    def publish_debug(self, message):
+        """Publish debug message."""
+        msg = String()
+        msg.data = message
+        self.debug_pub.publish(msg)
+
+    def run_async_func(self, coro):
+        """Run an async function in the event loop."""
+        return asyncio.run_coroutine_threadsafe(coro, self.loop).result()
+
+    async def shutdown(self):
+        """Perform clean shutdown."""
+        self.shutdown_requested = True
+        
+        if self.camera and self.camera_connected:
+            try:
+                # Stop any data streams
+                await self.camera.send_data_stream_request(
+                    DataStreamType.ATTITUDE_DATA,
+                    DataStreamFrequency.DISABLE
+                )
+                
+                # Disconnect from camera
+                await self.camera.disconnect()
+                self.get_logger().info("Disconnected from camera")
+                
+            except Exception as e:
+                self.get_logger().error(f"Error during shutdown: {e}")
+
+    def cleanup(self):
+        """Clean up resources."""
+        if self.loop and self.executor:
+            # Schedule the shutdown coroutine
+            try:
+                self.run_async_func(self.shutdown())
+            except Exception as e:
+                self.get_logger().error(f"Error during cleanup: {e}")
+            
+            # Shut down the executor
+            self.executor.shutdown()
+            
+            # Close the event loop
+            self.loop.stop()
+            self.loop.close()
+            
+            self.get_logger().info("PTZ node resources cleaned up")
+
+def main(args=None):
+    """Main function."""
+    # Initialize ROS
+    rclpy.init(args=args)
+    
+    # Create the node
+    ptz_node = PtzNode()
+    
+    # Create and start event loop for the camera
+    def run_event_loop(loop):
+        asyncio.set_event_loop(loop)
+        loop.run_forever()
+    
+    # Start the asyncio loop in a separate thread
+    asyncio_thread = threading.Thread(
+        target=run_event_loop, 
+        args=(ptz_node.loop,),
+        daemon=True
+    )
+    asyncio_thread.start()
+    
+    try:
+        # Spin the node to process callbacks
+        rclpy.spin(ptz_node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        # Clean up
+        ptz_node.cleanup()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    # Register signal handler for clean shutdown
+    signal.signal(signal.SIGINT, lambda signum, frame: sys.exit(0))
+    signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))
+    main()
+
diff --git a/src/core_pkg/core_pkg/siyi_sdk/.gitignore b/src/core_pkg/core_pkg/siyi_sdk/.gitignore
new file mode 100644
index 0000000..0a19790
--- /dev/null
+++ b/src/core_pkg/core_pkg/siyi_sdk/.gitignore
@@ -0,0 +1,174 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
diff --git a/src/core_pkg/core_pkg/siyi_sdk/README.md b/src/core_pkg/core_pkg/siyi_sdk/README.md
new file mode 100644
index 0000000..7277a6f
--- /dev/null
+++ b/src/core_pkg/core_pkg/siyi_sdk/README.md
@@ -0,0 +1,26 @@
+# SIYI Gimbal Camera Python Library
+
+This library provides a Python interface for controlling SIYI gimbal cameras over TCP. It allows you to:
+
+- Connect to the camera and maintain a stable connection.
+- Control the camera's movement (pan, tilt).
+- Request a continuous stream of data (attitude, etc.).
+
+> [!NOTE]
+> The code for this library (including this README) was written almost entirely by an AI assistant, with
+> the assistance and direction of a human developer. It probably sucks, but I need sleep, so I'm not going
+> to redo it. Sorry.
+
+## Core Features
+
+- **Asynchronous communication:** Utilizes `asyncio` for non-blocking operation.
+- **Command handling:**  Easy-to-use functions for sending control commands.
+- **Data streaming:**  Ability to receive continuous data streams for real-time monitoring.
+
+## Key Components
+
+- `SiyiGimbalCamera` class: Main class for interfacing with the camera.
+- Enums: `DataStreamType`, `DataStreamFrequency`, `SingleAxis`, `CommandID` to manage protocol values.
+- Logging: Uses the Python `logging` library.
+
+Refer to the code comments and docstrings for specific function details.
diff --git a/src/core_pkg/core_pkg/siyi_sdk/__init__.py b/src/core_pkg/core_pkg/siyi_sdk/__init__.py
new file mode 100644
index 0000000..d48c636
--- /dev/null
+++ b/src/core_pkg/core_pkg/siyi_sdk/__init__.py
@@ -0,0 +1 @@
+from .siyi import *
diff --git a/src/core_pkg/core_pkg/siyi_sdk/siyi.py b/src/core_pkg/core_pkg/siyi_sdk/siyi.py
new file mode 100644
index 0000000..2704d65
--- /dev/null
+++ b/src/core_pkg/core_pkg/siyi_sdk/siyi.py
@@ -0,0 +1,363 @@
+import asyncio
+import socket
+import struct
+import logging
+from enum import Enum
+from dataclasses import dataclass
+from typing import Optional, Callable, Any
+from crccheck.crc import Crc16
+
+# Set up logging
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.INFO)  # You can adjust the logging level as needed
+handler = logging.StreamHandler()  # Output to console
+formatter = logging.Formatter("%(asctime)s - %(name)s - %(levelname)s - %(message)s")
+handler.setFormatter(formatter)
+logger.addHandler(handler)
+
+# Global constant for the heartbeat packet (used in TCP keep-alive)
+HEARTBEAT_PACKET = bytes.fromhex("55 66 01 01 00 00 00 00 00 59 8B")
+
+
+class DataStreamType(Enum):
+    """
+    Enumeration for data stream types in the 0x25 command.
+
+    Allows users to select which type of data to stream from the gimbal camera.
+    """
+
+    ATTITUDE_DATA = 1
+    LASER_RANGE_DATA = 2
+    MAGNETIC_ENCODER_ANGLE_DATA = 3
+    MOTOR_VOLTAGE_DATA = 4
+
+
+class DataStreamFrequency(Enum):
+    """
+    Enumeration for data stream frequencies in the 0x25 command.
+
+    Allows the user to select the output (streaming) frequency.
+    """
+
+    DISABLE = 0
+    HZ_2 = 1
+    HZ_4 = 2
+    HZ_5 = 3
+    HZ_10 = 4
+    HZ_20 = 5
+    HZ_50 = 6
+    HZ_100 = 7
+
+
+class SingleAxis(Enum):
+    """
+    Enumeration for specifying the controlled axis in the 0x41 single-axis control command.
+
+    YAW corresponds to 0 and PITCH corresponds to 1.
+    """
+
+    YAW = 0
+    PITCH = 1
+
+
+class CommandID(Enum):
+    """
+    Enumeration for command identifiers used in the protocol.
+
+    These identifiers are sent as the CMD_ID in a packet and help in matching
+    responses or processing incoming packets.
+    """
+
+    ROTATION_CONTROL = 0x07
+    ATTITUDE_ANGLES = 0x0E
+    SINGLE_AXIS_CONTROL = 0x41
+    DATA_STREAM_REQUEST = 0x25
+    ATTITUDE_DATA_RESPONSE = 0x0D  # Expected response packet for attitude data
+
+
+@dataclass
+class AttitudeData:
+    """
+    Class representing the parsed attitude data from the gimbal.
+
+    Angles (yaw, pitch, roll) are in degrees and are scaled using one decimal point precision.
+    Angular velocities are raw int16 values.
+    """
+
+    yaw: float
+    pitch: float
+    roll: float
+    yaw_velocity: int
+    pitch_velocity: int
+    roll_velocity: int
+
+    @classmethod
+    def from_bytes(cls, data: bytes) -> "AttitudeData":
+        """Create an AttitudeData instance from a byte string."""
+        if len(data) != 12:
+            raise ValueError("Attitude data should be exactly 12 bytes.")
+        # Unpack six little-endian int16 values
+        values = struct.unpack("<hhhhhh", data)
+        return cls(
+            yaw=values[0] / 10.0,
+            pitch=values[1] / 10.0,
+            roll=values[2] / 10.0,
+            yaw_velocity=values[3],
+            pitch_velocity=values[4],
+            roll_velocity=values[5],
+        )
+
+
+class SiyiGimbalCamera:
+    """
+    Class to interface with the SIYI Gimbal Camera over TCP.
+
+    This class handles:
+      - Establishing a TCP connection.
+      - Sending periodic heartbeat packets.
+      - Building and sending commands (e.g. for rotation, setting attitudes,
+        single-axis control, and data stream requests).
+      - Continuously reading incoming packets in a background task.
+
+    Command identifiers and axis flags are represented as enums, and the parsed
+    attitude data is returned as an AttitudeData object.
+
+    The data stream listener is started as a background task when a connection is
+    established. Users can provide or update the callback used for processing data
+    stream packets by calling set_data_callback().
+    """
+
+    def __init__(self, ip: str, port: int = 37260, *, heartbeat_interval: int = 2):
+        """
+        Initialize a new SiyiGimbalCamera instance.
+
+        :param ip: The IP address (as a string) of the SIYI gimbal camera.
+        :param port: The TCP port (as an integer) used for the connection (default: 37260).
+        :param heartbeat_interval: Interval in seconds (int) between heartbeat packets.
+        """
+        self.ip = ip
+        self.port = port
+        self.heartbeat_interval = heartbeat_interval
+        # These will be assigned after successfully connecting.
+        self.reader: asyncio.StreamReader
+        self.writer: asyncio.StreamWriter
+        self.is_connected = False
+        # Sequence counter (integer in the range 0 to 65535) for outgoing packets.
+        self.seq: int = 0
+        self._data_callback: Optional[Callable[[CommandID, Any], None]] = None
+
+    async def connect(self) -> None:
+        """Establish a TCP connection with the gimbal camera."""
+        try:
+            self.reader, self.writer = await asyncio.open_connection(
+                self.ip, self.port
+            )
+            self.is_connected = True
+            logger.info(f"Connected to {self.ip}:{self.port}")
+            asyncio.create_task(self.heartbeat_loop())
+            # Start the data stream listener in the background.
+            asyncio.create_task(self._data_stream_listener())
+        except (socket.gaierror, ConnectionRefusedError) as e:
+            self.is_connected = False
+            logger.error(f"Could not connect: {e}")
+            raise
+
+    async def disconnect(self) -> None:
+        """Gracefully disconnect from the gimbal camera."""
+        if self.is_connected:
+            self.is_connected = False
+            self.writer.close()
+            await self.writer.wait_closed()
+            logger.info("Disconnected")
+        else:
+            logger.warning("Not connected, cannot disconnect.")
+
+    async def heartbeat_loop(self) -> None:
+        """Periodically send heartbeat packets to maintain the TCP connection."""
+        if not self.is_connected:
+            logger.warning("Heartbeat loop started before connection was established.")
+            return
+
+        try:
+            while self.is_connected:
+                try:
+                    self.writer.write(HEARTBEAT_PACKET)
+                    await self.writer.drain()
+                    logger.debug("Sent heartbeat packet")
+                    await asyncio.sleep(self.heartbeat_interval)
+                except (socket.error, BrokenPipeError) as e:
+                    logger.error(f"Connection error in heartbeat loop: {e}")
+                    break
+        finally:
+            logger.info("Heartbeat loop stopped.")
+            if self.is_connected:
+                await self.disconnect()
+
+    def _build_rotation_packet(self, turn_yaw: int, turn_pitch: int) -> bytes:
+        """Build a full packet for the 0x07 Gimbal Rotation Control command."""
+        packet = bytearray()
+        packet.extend(b"\x55\x66")               # STX bytes
+        packet.append(0x01)                      # CTRL (request ACK)
+        packet.extend(struct.pack("<H", 2))      # Data length: 2 bytes
+        packet.extend(struct.pack("<H", self.seq))  # Sequence number
+        packet.append(CommandID.ROTATION_CONTROL.value)  # CMD_ID for rotation control
+        packet.extend(struct.pack("bb", turn_yaw, turn_pitch))  # Data: two int8 values
+        crc_value = Crc16.calc(packet)
+        packet.extend(struct.pack("<H", crc_value))
+        self.seq = (self.seq + 1) % 0x10000
+        return bytes(packet)
+
+    async def send_rotation_command(self, turn_yaw: int, turn_pitch: int) -> None:
+        """Send a rotation control command (0x07) with the given yaw and pitch values."""
+        if not self.is_connected:
+            raise RuntimeError("Socket is not connected, cannot send rotation command.")
+        packet = self._build_rotation_packet(turn_yaw, turn_pitch)
+        self.writer.write(packet)
+        await self.writer.drain()
+        logger.debug(f"Sent rotation command with yaw {turn_yaw} and pitch {turn_pitch}")
+
+    def _build_attitude_angles_packet(self, yaw: float, pitch: float) -> bytes:
+        """Build a full packet for the 0x0E 'Set Gimbal Attitude Angles' command."""
+        packet = bytearray()
+        packet.extend(b"\x55\x66")
+        packet.append(0x01)  # CTRL (request ACK)
+        packet.extend(struct.pack("<H", 4))  # Data length: 4 bytes (2 for each angle)
+        packet.extend(struct.pack("<H", self.seq))
+        packet.append(CommandID.ATTITUDE_ANGLES.value)  # CMD_ID for set gimbal attitude angles
+        yaw_int = int(round(yaw * 10))
+        pitch_int = int(round(pitch * 10))
+        packet.extend(struct.pack("<hh", yaw_int, pitch_int))
+        crc_value = Crc16.calc(packet)
+        packet.extend(struct.pack("<H", crc_value))
+        self.seq = (self.seq + 1) % 0x10000
+        return bytes(packet)
+
+    async def send_attitude_angles_command(self, yaw: float, pitch: float) -> None:
+        """Send the 0x0E 'Set Gimbal Attitude Angles' command to set absolute angles."""
+        if not self.is_connected:
+            raise RuntimeError("Socket is not connected, cannot send attitude angles command.")
+        packet = self._build_attitude_angles_packet(yaw, pitch)
+        self.writer.write(packet)
+        await self.writer.drain()
+        logger.debug(f"Sent attitude angles command with yaw {yaw}° and pitch {pitch}°")
+
+    def _build_single_axis_attitude_packet(self, angle: float, axis: SingleAxis) -> bytes:
+        """Build a full packet for the 0x41 'Single-Axis Attitude Control' command."""
+        packet = bytearray()
+        packet.extend(b"\x55\x66")
+        packet.append(0x01)  # CTRL
+        packet.extend(struct.pack("<H", 3))  # Data length: 3 bytes
+        packet.extend(struct.pack("<H", self.seq))
+        packet.append(CommandID.SINGLE_AXIS_CONTROL.value)  # CMD_ID for single-axis control
+        angle_int = int(round(angle * 10))
+        packet.extend(struct.pack("<hB", angle_int, axis.value))
+        crc_value = Crc16.calc(packet)
+        packet.extend(struct.pack("<H", crc_value))
+        self.seq = (self.seq + 1) % 0x10000
+        return bytes(packet)
+
+    async def send_single_axis_attitude_command(self, angle: float, axis: SingleAxis) -> None:
+        """Send the 0x41 single-axis attitude control command."""
+        if not self.is_connected:
+            raise RuntimeError("Socket is not connected, cannot send single-axis attitude command.")
+        packet = self._build_single_axis_attitude_packet(angle, axis)
+        self.writer.write(packet)
+        await self.writer.drain()
+        logger.debug(
+            f"Sent single-axis attitude command for {axis.name.lower()} with angle {angle}°"
+        )
+
+    def _build_data_stream_packet(self, data_type: DataStreamType, data_freq: DataStreamFrequency) -> bytes:
+        """Build a packet for the 0x25 'Request Gimbal to Send Data Stream' command."""
+        packet = bytearray()
+        packet.extend(b"\x55\x66")
+        packet.append(0x01)  # CTRL, request ACK
+        packet.extend(struct.pack("<H", 2))  # Data length: 2 bytes
+        packet.extend(struct.pack("<H", self.seq))
+        packet.append(CommandID.DATA_STREAM_REQUEST.value)  # CMD_ID for data stream request
+        packet.append(data_type.value)           # Data type (uint8)
+        packet.append(data_freq.value)           # Data frequency (uint8)
+        crc_value = Crc16.calc(packet)
+        packet.extend(struct.pack("<H", crc_value))
+        self.seq = (self.seq + 1) % 0x10000
+        return bytes(packet)
+
+    async def send_data_stream_request(self, data_type: DataStreamType, data_freq: DataStreamFrequency) -> None:
+        """Send the 0x25 command to request a continuous data stream from the gimbal."""
+        if not self.is_connected:
+            raise RuntimeError("Socket is not connected, cannot request data stream.")
+        packet = self._build_data_stream_packet(data_type, data_freq)
+        self.writer.write(packet)
+        await self.writer.drain()
+        logger.info(f"Sent data stream request: data_type {data_type}, data_freq {data_freq}")
+
+    async def _read_packet(self):
+        """Read a full packet from the TCP stream following the protocol format."""
+        stx = await self.reader.readexactly(2)
+        if stx != b"\x55\x66":
+            raise ValueError("Invalid packet start bytes.")
+        ctrl = await self.reader.readexactly(1)
+        data_len_bytes = await self.reader.readexactly(2)
+        data_len = struct.unpack("<H", data_len_bytes)[0]
+        seq = await self.reader.readexactly(2)
+        cmd_id_bytes = await self.reader.readexactly(1)
+        cmd_id = cmd_id_bytes[0]
+        data = await self.reader.readexactly(data_len)
+        crc_bytes = await self.reader.readexactly(2)
+        received_crc = struct.unpack("<H", crc_bytes)[0]
+        packet_without_crc = stx + ctrl + data_len_bytes + seq + cmd_id_bytes + data
+        computed_crc = Crc16.calc(packet_without_crc)
+        if computed_crc != received_crc:
+            raise ValueError("CRC check failed for received packet.")
+        return cmd_id, data
+
+    @staticmethod
+    def parse_attitude_data(data: bytes) -> AttitudeData:
+        """Parse the attitude data (12 bytes) into human-readable values."""
+        if len(data) != 12:
+            raise ValueError("Attitude data should be exactly 12 bytes.")
+        return AttitudeData.from_bytes(data)
+
+    async def _data_stream_listener(self) -> None:
+        """
+        Continuously listen for incoming packets from the gimbal and process them.
+
+        If a data callback is set via set_data_callback(), the callback is called
+        with the CommandID and the corresponding data (parsed or raw).
+        """
+        while self.is_connected:
+            try:
+                cmd_id_int, data = await self._read_packet()
+                cmd_id = CommandID(cmd_id_int)
+            except Exception as e:
+                logger.error(f"Error reading packet: {e}")
+                continue
+
+            # Process attitude data packets if applicable.
+            if cmd_id == CommandID.ATTITUDE_DATA_RESPONSE and len(data) == 12:
+                try:
+                    parsed = AttitudeData.from_bytes(data)
+                except Exception as e:
+                    logger.exception(f"Failed to parse attitude data: {e}")
+                    parsed = None
+                if self._data_callback:
+                    self._data_callback(cmd_id, parsed)
+                else:
+                    logger.info(f"Received attitude data: {parsed}")
+            else:
+                if self._data_callback:
+                    self._data_callback(cmd_id, data)
+                else:
+                    logger.info(f"Received packet with CMD_ID {cmd_id}: {data}")
+
+    def set_data_callback(self, callback: Callable[[CommandID, Any], None]) -> None:
+        """
+        Change the callback function used by the data stream listener.
+
+        The callback should be a function that accepts two arguments:
+          - A CommandID indicating the type of packet received.
+          - The parsed data (for attitude data, an AttitudeData instance) or raw data.
+
+        :param callback: A callable to be used as the data callback.
+        """
+        self._data_callback = callback
diff --git a/src/core_pkg/core_pkg/siyi_sdk/test.py b/src/core_pkg/core_pkg/siyi_sdk/test.py
new file mode 100644
index 0000000..24e7693
--- /dev/null
+++ b/src/core_pkg/core_pkg/siyi_sdk/test.py
@@ -0,0 +1,61 @@
+import asyncio
+import logging
+
+from siyi import (
+    SiyiGimbalCamera,
+    CommandID,
+    DataStreamType,
+    DataStreamFrequency,
+    SingleAxis,
+)
+
+# Set up basic logging for this test script
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+async def main():
+    # Setup: Define your camera instance and connection parameters
+    camera = SiyiGimbalCamera(ip="192.168.1.17", port=37260)
+
+    try:
+        await camera.connect()
+        # Initial Connection Established: Wait briefly before sending the commands
+        await asyncio.sleep(2)
+
+        # Command 1: Move all the way to the right (using set angles)
+        logger.info("Command 1: Move all the way to the right (using absolute angle control)")
+        await camera.send_attitude_angles_command(135.0, 0.0)
+        await asyncio.sleep(5)
+
+        # Command 2: Look down (using relative control)
+        logger.info("Command 2: Start looking down (relative speed control)")
+        #   The numbers used are example numbers and may be different from the numbers you use.
+        await camera.send_rotation_command(0, 50)
+        await asyncio.sleep(5)
+
+        # Command 3: Stop looking down, then look up (with the single axis)
+        logger.info("Command 3: Stop looking down and start looking up (single axis control)")
+        await camera.send_rotation_command(0, 0)
+        await camera.send_single_axis_attitude_command(135, SingleAxis.PITCH)
+        await asyncio.sleep(5)
+
+        # Command 4: Reset and move all the way to the left (Absolute value).
+        logger.info("Command 4: Move back to the center, and start moving all the way left")
+        await camera.send_attitude_angles_command(-135.0, 0.0)
+        await asyncio.sleep(5)
+
+        # Command 5: Final rotation to the center (using set angles)
+        logger.info("Command 5: Moving back to the center.")
+        await camera.send_attitude_angles_command(0, 0)
+        await asyncio.sleep(5)
+    except Exception as e:
+        logger.exception(f"An exception occurred: {e}")
+    finally:
+        # Disconnect and cleanup after commands have run.
+        await camera.disconnect()
+        logger.info("Test script completed and shutdown")
+
+
+if __name__ == "__main__":
+    asyncio.run(main())
diff --git a/src/core_pkg/setup.py b/src/core_pkg/setup.py
index 77bda6d..0d3d80b 100644
--- a/src/core_pkg/setup.py
+++ b/src/core_pkg/setup.py
@@ -20,7 +20,8 @@ setup(
     entry_points={
         'console_scripts': [
             "core = core_pkg.core_node:main",
-            "headless = core_pkg.core_headless:main"
+            "headless = core_pkg.core_headless:main",
+            "ptz = core_pkg.core_ptz:main"
         ],
     },
 )