diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index 36f803a..531d372 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -25,41 +25,12 @@ from ament_index_python.packages import get_package_share_directory
 # from scipy.spatial.transform import Rotation as R
 
 from . import astra_arm
+#from . import socket_feedback
 
 serial_pub = None
 thread = None
 
 
-# struct for socket feedback
-class SocketFeedback:
-    def __init__(self):
-        self.bat_voltage = 0.0
-        self.voltage_12 = 0.0
-        self.voltage_5 = 0.0
-        self.voltage_3 = 0.0   
-        self.joint_angles = [0.0, 0.0, 0.0, 0.0]
-        self.joint_temps = [0.0, 0.0, 0.0, 0.0]
-        self.joint_voltages = [0.0, 0.0, 0.0, 0.0]
-        self.joint_currents = [0.0, 0.0, 0.0, 0.0]
-
-    def updateBusVoltages(self, voltages):
-        self.bat_voltage = voltages[0]
-        self.voltage_12 = voltages[1]
-        self.voltage_5 = voltages[2]
-        self.voltage_3 = voltages[3]
-
-    def updateJointVoltages(self, axis, voltage):
-        self.joint_voltages[axis] = voltage
-
-    def updateJointCurrents(self, axis, current):
-        self.joint_currents[axis] = current
-
-    def updateJointTemperatures(self, axis, temperature):
-        self.joint_temps[axis] = temperature
-
-    def updateJointAngles(self, angles):
-        self.joint_angles = angles
-
 
 
 
@@ -68,9 +39,6 @@ class SerialRelay(Node):
         # Initialize node
         super().__init__("arm_node")
 
-        #output to console
-        self.get_logger().info("Starting arm node...")
-
         # Get launch mode parameter
         self.declare_parameter('launch_mode', 'arm')
         self.launch_mode = self.get_parameter('launch_mode').value
@@ -230,6 +198,7 @@ class SerialRelay(Node):
             # Convert the voltages to floats
             for i in range(4):
                 self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
+                self.
                 self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
                 self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
         else:
diff --git a/src/arm_pkg/arm_pkg/astra_arm.py b/src/arm_pkg/arm_pkg/astra_arm.py
index 80bbe61..df89790 100644
--- a/src/arm_pkg/arm_pkg/astra_arm.py
+++ b/src/arm_pkg/arm_pkg/astra_arm.py
@@ -21,7 +21,7 @@ class Arm:
     def __init__(self, urdf_name):
         self.ik_tolerance = 1e-3 #Tolerance (in meters) to determine if solution is valid
         # URDF file path
-        self.urdf = os.path.join(get_package_share_directory('ik_pkg'), urdf_name)
+        self.urdf = os.path.join(get_package_share_directory('arm_pkg'), urdf_name)
         # IKpy Chain        
         self.chain = Chain.from_urdf_file(self.urdf)   
 
diff --git a/src/arm_pkg/arm_pkg/feedback_storage.py b/src/arm_pkg/arm_pkg/feedback_storage.py
new file mode 100644
index 0000000..66c88d3
--- /dev/null
+++ b/src/arm_pkg/arm_pkg/feedback_storage.py
@@ -0,0 +1,29 @@
+# struct for socket feedback
+class Feedback:
+    def __init__(self):
+        self.bat_voltage = 0.0
+        self.voltage_12 = 0.0
+        self.voltage_5 = 0.0
+        self.voltage_3 = 0.0   
+        self.joint_angles = [0.0, 0.0, 0.0, 0.0]
+        self.joint_temps = [0.0, 0.0, 0.0, 0.0]
+        self.joint_voltages = [0.0, 0.0, 0.0, 0.0]
+        self.joint_currents = [0.0, 0.0, 0.0, 0.0]
+
+    def updateBusVoltages(self, voltages):
+        self.bat_voltage = voltages[0]
+        self.voltage_12 = voltages[1]
+        self.voltage_5 = voltages[2]
+        self.voltage_3 = voltages[3]
+
+    def updateJointVoltages(self, axis, voltage):
+        self.joint_voltages[axis] = voltage
+
+    def updateJointCurrents(self, axis, current):
+        self.joint_currents[axis] = current
+
+    def updateJointTemperatures(self, axis, temperature):
+        self.joint_temps[axis] = temperature
+
+    def updateJointAngles(self, angles):
+        self.joint_angles = angles