diff --git a/launch/__pycache__/rover_launch.cpython-312.pyc b/launch/__pycache__/rover_launch.cpython-312.pyc
deleted file mode 100644
index a7099b2..0000000
Binary files a/launch/__pycache__/rover_launch.cpython-312.pyc and /dev/null differ
diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index 31d8353..ff42ec7 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -49,7 +49,7 @@ class SerialRelay(Node):
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
                         self.port = port
-                        self.get_logger.info(f"Found MCU at {self.port}!")
+                        self.get_logger().info(f"Found MCU at {self.port}!")
                         break
                 except:
                     pass
@@ -57,7 +57,7 @@ class SerialRelay(Node):
                 break
         
         if self.port is None:
-            self.get_logger.info("Unable to find MCU...")
+            self.get_logger().info("Unable to find MCU...")
             time.sleep(1)
             sys.exit(1)
         
diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index 8d70e06..abf82e9 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -22,8 +22,8 @@ class SerialRelay(Node):
 
         # Get launch mode parameter
         self.declare_parameter('launch_mode', 'arm')
-        launch_mode = self.get_parameter('launch_mode').value
-        self.get_logger().info(f"arm launch_mode is: {launch_mode}")
+        self.launch_mode = self.get_parameter('launch_mode').value
+        self.get_logger().info(f"arm launch_mode is: {self.launch_mode}")
 
         # Create publishers
         self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
@@ -33,13 +33,13 @@ class SerialRelay(Node):
         self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
 
         # Topics used in anchor mode
-        if launch_mode == 'anchor':
+        if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
             self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
 
 
         # Search for ports IF in 'arm' (standalone) and not 'anchor' mode
-        if launch_mode == 'arm':
+        if self.launch_mode == 'arm':
             # Loop through all serial devices on the computer to check for the MCU
             self.port = None
             ports = SerialRelay.list_serial_ports()
@@ -150,7 +150,7 @@ class SerialRelay(Node):
         #print(f"[Arm Wrote] {cmd}", end="")
 
     def anchor_feedback(self, msg):
-        self.get_logger.info(f"[Anchor] {msg.data}", end="")
+        self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")
         #self.send_cmd(msg.data)
 
 
diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index b93e764..e2cea5d 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -25,8 +25,8 @@ class SerialRelay(Node):
 
         # Get launch mode parameter
         self.declare_parameter('launch_mode', 'core')
-        launch_mode = self.get_parameter('launch_mode').value
-        self.get_logger().info(f"core launch_mode is: {launch_mode}")
+        self.launch_mode = self.get_parameter('launch_mode').value
+        self.get_logger().info(f"core launch_mode is: {self.launch_mode}")
 
         # Create publishers 
         self.debug_pub = self.create_publisher(String, '/core/debug', 10) 
@@ -37,12 +37,12 @@ class SerialRelay(Node):
         # Create a service server for pinging the rover
         self.ping_service = self.create_service(Empty, '/astra/core/ping', self.ping_callback)
 
-        if launch_mode == 'anchor':
+        if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/core/feedback', self.anchor_feedback, 10)
             self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
 
 
-        if launch_mode == 'core':
+        if self.launch_mode == 'core':
             # Loop through all serial devices on the computer to check for the MCU
             self.port = None
             ports = SerialRelay.list_serial_ports()
@@ -65,13 +65,13 @@ class SerialRelay(Node):
                 if self.port is not None:
                     break
         
-        if self.port is None:
-            self.get_logger.info("Unable to find MCU...")
-            time.sleep(1)
-            sys.exit(1)
+            if self.port is None:
+                self.get_logger.info("Unable to find MCU...")
+                time.sleep(1)
+                sys.exit(1)
         
-        self.ser = serial.Serial(self.port, 115200)
-        atexit.register(self.cleanup)
+            self.ser = serial.Serial(self.port, 115200)
+            atexit.register(self.cleanup)
 
 
     def run(self):
@@ -180,6 +180,9 @@ class SerialRelay(Node):
         elif self.launch_mode == 'core':
             self.ser.write(bytes(cmd, "utf8"))
 
+    def anchor_feedback(self, msg):
+        self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")
+
     def ping_callback(self, request, response):
         return response