diff --git a/src/headless_pkg/headless_pkg/headless_ctrl_node.py b/src/core_pkg/core_pkg/core_headless.py
similarity index 98%
rename from src/headless_pkg/headless_pkg/headless_ctrl_node.py
rename to src/core_pkg/core_pkg/core_headless.py
index 6996eee..ce6896f 100755
--- a/src/headless_pkg/headless_pkg/headless_ctrl_node.py
+++ b/src/core_pkg/core_pkg/core_headless.py
@@ -25,7 +25,7 @@ max_speed = 75 #Max speed as a duty cycle percentage (1-100)
 class Headless(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("headless_ctrl")
+        super().__init__("core_headless")
 
         self.create_timer(0.20, self.send_controls)
 
diff --git a/src/core_pkg/core_pkg/core_control_node.py b/src/core_pkg/core_pkg/core_node.py
similarity index 98%
rename from src/core_pkg/core_pkg/core_control_node.py
rename to src/core_pkg/core_pkg/core_node.py
index a9b01a6..34e0ba4 100644
--- a/src/core_pkg/core_pkg/core_control_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -21,7 +21,7 @@ thread = None
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("serial_publisher")#previously 'serial_publisher'
+        super().__init__("core_node")#previously 'serial_publisher'
 
         # Create publishers for feedback and telemetry
         self.debug_pub = self.create_publisher(String, '/core/debug', 10) 
diff --git a/src/core_pkg/setup.py b/src/core_pkg/setup.py
index fceedf3..77bda6d 100644
--- a/src/core_pkg/setup.py
+++ b/src/core_pkg/setup.py
@@ -17,10 +17,10 @@ setup(
     maintainer_email='tristanmcginnis26@gmail.com',
     description='Core rover control package to handle command interpretation and embedded interfacing.',
     license='All Rights Reserved',
-    tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "core_control = core_pkg.core_control_node:main"
+            "core = core_pkg.core_node:main",
+            "headless = core_pkg.core_headless:main"
         ],
     },
 )
diff --git a/src/core_pkg/test/test_copyright.py b/src/core_pkg/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/src/core_pkg/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
diff --git a/src/core_pkg/test/test_flake8.py b/src/core_pkg/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/src/core_pkg/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
diff --git a/src/core_pkg/test/test_pep257.py b/src/core_pkg/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/src/core_pkg/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'