diff --git a/rb_ws/src/buggy/launch/sc-system.launch b/rb_ws/src/buggy/launch/sc-system.launch
index 219c44b..3720e8a 100644
--- a/rb_ws/src/buggy/launch/sc-system.launch
+++ b/rb_ws/src/buggy/launch/sc-system.launch
@@ -14,4 +14,5 @@
 
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="telematics" pkg="buggy" type="telematics.py" />
+    <node name="watchdog" pkg="buggy" type="watchdog.py" args = "--self_name SC" />
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/launch/watchdog.launch b/rb_ws/src/buggy/launch/watchdog.launch
new file mode 100644
index 0000000..d7547d0
--- /dev/null
+++ b/rb_ws/src/buggy/launch/watchdog.launch
@@ -0,0 +1,6 @@
+<!-- roslaunch buggy main.launch -->
+
+<launch>
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="watchdog" pkg="buggy" type="watchdog.py" args = "--self_name SC" />
+</launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/scripts/watchdog/watchdog.py b/rb_ws/src/buggy/scripts/watchdog/watchdog.py
new file mode 100755
index 0000000..a02b3d1
--- /dev/null
+++ b/rb_ws/src/buggy/scripts/watchdog/watchdog.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+
+import argparse
+
+import rospy
+
+from std_msgs.msg import Bool, Int8, Float64
+
+class Watchdog:
+
+    STEERING_DEVIANCE = 2 #deg
+
+    def __init__(self, self_name) -> None:
+        self.alarm = 0 #Check this alarm value
+        """
+        0 - OK
+        1 - WARNING
+        2 - ERROR        
+        """
+        
+        self.commanded_steering = 0
+        self.inAutonSteer = False
+
+        rospy.Subscriber(
+            self_name + "/buggy/input/steering", Float64, self.set_input_steering
+        )
+        rospy.Subscriber(
+            self_name + "/buggy/debug/steering_angle", Float64, self.check_stepper_steering
+        )
+        rospy.Subscriber(
+            self_name + "/buggy/debug/use_auton_steer", Bool, self.check_stepper_steering
+        )
+
+        self.alarm_publisher = rospy.Publisher(self_name + "/debug/sanity_warning", Int8, queue_size=1)
+        self.alarm_publish_rate = rospy.Rate(100) #10ms per alarm
+        
+    def set_input_steering(self, msg):
+        rospy.loginfo("Got input steering of, "  + str(msg.data))
+        self.commanded_steering = msg.data
+    
+    def set_auton_steer(self, msg):        
+        self.inAutonSteer = msg.data
+
+    def check_stepper_steering(self, msg):
+        stepper_steer = msg.data
+        rospy.logdebug("Firmware's reported stepper degree: " + str(stepper_steer))
+        if abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE:
+            self.alarm = 2 # ERROR
+            if self.inAutonSteer:
+                rospy.logerror("STEPPER DEVIANCE of " +  str(abs(stepper_steer - self.commanded_steering)))
+            else:
+                rospy.logdebug("Stepper Deviance of " + str((stepper_steer - self.commanded_steering)) + " but not in auton steer")
+                
+        elif abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE//2:
+            if self.inAutonSteer:
+                rospy.logwarn("STEPPER POSSIBILY DEVIATING: " + str(abs(stepper_steer - self.commanded_steering)))
+            else:
+                rospy.logdebug("Not in auton, but stepper possibly deviating " + str(abs(stepper_steer - self.commanded_steering)))
+
+    def loop(self):
+        while True:
+            print("HERE")
+            #publish alarm
+            ros_alarm = Int8()
+            ros_alarm.data = self.alarm
+            self.alarm_publisher.publish(ros_alarm)
+            
+            self.alarm_publish_rate.sleep()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--self_name", type=str, help="name of ego-buggy", required=True
+    )
+    args, _ = parser.parse_known_args()
+    self_name = args.self_name
+    rospy.init_node("watchdog")
+    print("INITIALIZED")
+    rospy.loginfo("INITIALIZED WATCHDOG NODE")
+    watchdog = Watchdog(self_name=self_name)
+    watchdog.loop()
+
+
+    
+