diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index 4ec6362..344370d 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -59,6 +59,8 @@ class SerialRelay(Node):
                         if b"pong" in response:
                             self.port = port
                             self.get_logger().info(f"Found MCU at {self.port}!")
+                            self.get_logger().info(f"Enabling Relay Mode")
+                            ser.write(b"can_relay_mode,on\n")
                             break
                     except:
                         pass
diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg
index ca65155..d2bdbed 160000
--- a/src/ros2_interfaces_pkg
+++ b/src/ros2_interfaces_pkg
@@ -1 +1 @@
-Subproject commit ca65155cd75c8b78a1cccef972d19fb511c83fea
+Subproject commit d2bdbedb2685644fbf6588cd4ad0bd6112777a4a