diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index f04be98..a2b5cd3 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -171,7 +171,10 @@ class SerialRelay(Node):
 
     def send_controls(self, msg):
         #can_relay_tovic,core,19, left_stick, right_stick 
-        command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n'
+        if(msg.turn_to_enable):
+            command = "can_relay_tovic,core,41," + msg.turn_to + ',' + msg.turn_to_timeout + '\n' 
+        else:
+            command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n'
         
         self.send_cmd(command)
         
diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg
index d2bdbed..f7f39a6 160000
--- a/src/ros2_interfaces_pkg
+++ b/src/ros2_interfaces_pkg
@@ -1 +1 @@
-Subproject commit d2bdbedb2685644fbf6588cd4ad0bd6112777a4a
+Subproject commit f7f39a635287f242a8feacb1792332c0521fc5a7