diff --git a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/nodes/planners/WayPointFollowerPlanner.java b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/nodes/planners/WayPointFollowerPlanner.java
index 1bdcbfd2..f9da87c6 100644
--- a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/nodes/planners/WayPointFollowerPlanner.java
+++ b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/nodes/planners/WayPointFollowerPlanner.java
@@ -22,7 +22,7 @@ public class WayPointFollowerPlanner extends PathPlannerNode {
     private GpsMeasurement target;
 
     // we only want to look at the next 10 waypoints as possible candidates
-    private final int wayPointLOOKAHEADMAX = 50;
+    private static final int WAY_POINT_LOOKAHEAD_MAX = 50;
 
     /**
      * @param wayPoints the list of waypoints to follow
@@ -50,7 +50,7 @@ private int getClosestIndex(ArrayList<GpsMeasurement> wayPoints, GPSPoseMessage
         double min = Double.MAX_VALUE; //note that the brakes will definitely deploy at this
 
         int closestIndex = lastClosestIndex;
-        for (int i = lastClosestIndex; i < (lastClosestIndex + wayPointLOOKAHEADMAX) && i < wayPoints.size(); i++) {
+        for (int i = lastClosestIndex; i < (lastClosestIndex + WAY_POINT_LOOKAHEAD_MAX) && i < wayPoints.size(); i++) {
             GPSPoseMessage gpsPoseMessage = wayPoints.get(i).toGpsPoseMessage(0);
             double d = GPSPoseMessage.getDistance(currentLocation, gpsPoseMessage);
             if (d < min) {
diff --git a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/robots/ControllerTesterRobot.java b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/robots/ControllerTesterRobot.java
index a504b49c..66ee000e 100644
--- a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/robots/ControllerTesterRobot.java
+++ b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/robots/ControllerTesterRobot.java
@@ -38,7 +38,7 @@ public static ControllerTesterRobot getInstance() {
     private ControllerTesterRobot() {
         super();
 
-        ArrayList<GpsMeasurement> wayPoints = null;
+        ArrayList<GpsMeasurement> wayPoints = new ArrayList<>();
         try {
             wayPoints = WayPointUtil.createWayPointsFromWaypointList(RobobuggyConfigFile.getWaypointSourceLogFile());
             nodeList.add(new WayPointFollowerPlanner(wayPoints));
diff --git a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/ControllerTester.java b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/ControllerTester.java
index eaecea9c..1f9852f3 100644
--- a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/ControllerTester.java
+++ b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/ControllerTester.java
@@ -35,9 +35,7 @@ public class ControllerTester extends PeriodicNode {
     private Matrix x;
     private double commandedSteeringAngle = 0;
     private Publisher simulatedPosePub;
-    private Publisher gpspub;
     private int simCounter;
-    private double targetHeading = INITIAL_HEADING_RAD;
 
     /**
      * Create a new {@link PeriodicNode} decorator
@@ -63,7 +61,7 @@ public ControllerTester(String name, LocTuple initialPosition) {
         }));
 
         simulatedPosePub = new Publisher(NodeChannel.POSE.getMsgPath());
-        gpspub = new Publisher(NodeChannel.GPS.getMsgPath());
+        new Publisher(NodeChannel.GPS.getMsgPath());
     }
 
     @Override
diff --git a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/FullSimRunner.java b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/FullSimRunner.java
index afd9c5c8..5850c4fc 100644
--- a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/FullSimRunner.java
+++ b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/FullSimRunner.java
@@ -44,7 +44,6 @@ public class FullSimRunner extends BuggyBaseNode {
     private Publisher gpsPub;
     private Publisher encPub;
     private Publisher steerPub;
-    private Subscriber steerSub;
 
     private RobobuggyKFLocalizer localizer;
     private WayPointFollowerPlanner controller;
@@ -84,7 +83,7 @@ public FullSimRunner(String name, LocTuple initialPos) {
         gpsPub = new Publisher(NodeChannel.GPS.getMsgPath());
         encPub = new Publisher(NodeChannel.ENCODER.getMsgPath());
         steerPub = new Publisher(NodeChannel.STEERING.getMsgPath());
-        steerSub = new Subscriber("Full Sim Toolbox", NodeChannel.DRIVE_CTRL.getMsgPath(), (topicName, m) -> {
+        new Subscriber("Full Sim Toolbox", NodeChannel.DRIVE_CTRL.getMsgPath(), (topicName, m) -> {
             updateMotionModel(((DriveControlMessage) m).getAngleDouble());
             steerPub.publish(new SteeringMeasurement(Math.toDegrees(((DriveControlMessage) m).getAngleDouble())));
         });
diff --git a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/PlayBackUtil.java b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/PlayBackUtil.java
index 3ea917c6..64a6cafa 100644
--- a/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/PlayBackUtil.java
+++ b/real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/PlayBackUtil.java
@@ -137,6 +137,7 @@ public static Message parseSensorLog(JsonObject sensorDataJson, Gson translator,
                 break;
             case DriveControlMessage.VERSION_ID:
                 transmitMessage = translator.fromJson(sensorDataJson, DriveControlMessage.class);
+                getPrivateInstance().driveCtrlPub.publish(transmitMessage);
                 break;
             case EncoderMeasurement.VERSION_ID:
                 transmitMessage = translator.fromJson(sensorDataJson, EncoderMeasurement.class);