diff --git a/.gitignore b/.gitignore
index 88667fb..21e2554 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,7 +6,7 @@ docker-compose.yml~
 
 # BAGS
 rb_ws/bags
-rb_ws/src/buggy/bags/*                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  
+rb_ws/src/buggy/bags/                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   
 *.bag
 rb_ws/rosbag2/
 
diff --git a/rb_ws/src/buggy/config/sim_double.yaml b/rb_ws/src/buggy/config/sim_double.yaml
new file mode 100644
index 0000000..af2e085
--- /dev/null
+++ b/rb_ws/src/buggy/config/sim_double.yaml
@@ -0,0 +1,34 @@
+/**: # Global Params
+  ros__parameters:
+      traj_name: "buggycourse_safe.json"
+
+NAND:
+  NAND_sim_single:
+    ros__parameters:
+      velocity: 10
+      pose: "Hill1_NAND"
+
+  NAND_controller:
+    ros__parameters:
+      dist: 0.0
+      # traj_name: "buggycourse_safe.json"
+      controller: "stanley"
+
+SC:
+  SC_sim_single:
+    ros__parameters:
+      velocity: 12
+      pose: "Hill1_SC"
+
+SC:
+  SC_controller:
+    ros__parameters:
+      dist: 0.0
+      # traj_name: "buggycourse_safe.json"
+      controller: "stanley"
+
+SC:
+  SC_path_planner:
+    ros__parameters:
+      traj_name: "buggycourse_safe.json"
+      curb_name: "buggycourse_curb.json"
diff --git a/rb_ws/src/buggy/config/sim_single_sc.yaml b/rb_ws/src/buggy/config/sim_single_sc.yaml
new file mode 100644
index 0000000..5d9b8cf
--- /dev/null
+++ b/rb_ws/src/buggy/config/sim_single_sc.yaml
@@ -0,0 +1,10 @@
+SC:
+   SC_sim_single:
+      ros__parameters:
+         velocity: 12
+         pose: "Hill1_SC"
+   SC_controller:
+      ros__parameters:
+         dist: 0.0
+         traj_name: "buggycourse_safe.json"
+         controller: "stanley"
diff --git a/rb_ws/src/buggy/launch/sim_2d_double.xml b/rb_ws/src/buggy/launch/sim_2d_double.xml
index b9d5ba6..545f5aa 100644
--- a/rb_ws/src/buggy/launch/sim_2d_double.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_double.xml
@@ -1,31 +1,26 @@
 <launch>
 
+    <arg name="config_file" default="src/buggy/config/sim_double.yaml"/>
+
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" output = "screen" namespace="SC"/>
 
     <node pkg="buggy" exec="buggy_state_converter.py" name="NAND_state_converter" output = "screen" namespace="NAND"/>
     <node pkg="buggy" exec="controller_node.py" name="NAND_controller" output = "screen" namespace="NAND">
-        <param name="dist" value="0.0"/>
-        <param name="traj_name" value="buggycourse_safe.json"/>
-        <param name="controller" value="stanley"/>
+        <param from="$(var config_file)"/>
     </node>
     <node pkg="buggy" exec="engine.py" name="NAND_sim_single" output = "screen" namespace="NAND">
-        <param name="velocity" value="8"/>
-        <param name="pose" value="Hill1_NAND"/>
+        <param from="$(var config_file)"/>
     </node>
     
     <node pkg="buggy" exec="buggy_state_converter.py" name="SC_state_converter" output = "screen" namespace="SC"/>
     <node pkg="buggy" exec="controller_node.py" name="SC_controller" output = "screen" namespace="SC">
-        <param name="dist" value="0.0"/>
-        <param name="traj_name" value="buggycourse_safe.json"/>
-        <param name="controller" value="stanley"/>
+        <param from="$(var config_file)"/>
     </node>
     <node pkg="buggy" exec="engine.py" name="SC_sim_single" output = "screen" namespace="SC">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_SC"/>
+        <param from="$(var config_file)"/>
     </node>
     <node pkg="buggy" exec="path_planner.py" name="SC_path_planner" namespace="SC" output = "screen">
-        <param name="traj_name" value="buggycourse_safe.json"/>
-        <remap from="other/state" to="/NAND/self/state"/>
+        <param from="$(var config_file)"/>
     </node>
 
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index f0e7204..508dc4c 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -1,15 +1,14 @@
 <launch>
 
+    <arg name="config_file" default="src/buggy/config/sim_single_sc.yaml"/>
+
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
     
     <node pkg="buggy" exec="engine.py" name="SC_sim_single" namespace="SC">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_SC"/>
+        <param from="$(var config_file)"/>
     </node>
     <node pkg="buggy" exec="buggy_state_converter.py" name="SC_state_converter" namespace="SC"/>
     <node pkg="buggy" exec="controller_node.py" name="SC_controller" namespace="SC">
-        <param name="dist" value="0.0"/>
-        <param name="traj_name" value="buggycourse_safe.json"/>
-        <param name="controller" value="stanley"/>
+        <param from="$(var config_file)"/>
     </node>
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/scripts/buggy_state_converter.py b/rb_ws/src/buggy/scripts/buggy_state_converter.py
index acc3d80..a864c28 100755
--- a/rb_ws/src/buggy/scripts/buggy_state_converter.py
+++ b/rb_ws/src/buggy/scripts/buggy_state_converter.py
@@ -10,6 +10,7 @@
 class BuggyStateConverter(Node):
     def __init__(self):
         super().__init__("buggy_state_converter")
+        self.get_logger().info('INITIALIZED.')
 
         namespace = self.get_namespace()
         if namespace == "/SC":
diff --git a/rb_ws/src/buggy/scripts/controller/controller_node.py b/rb_ws/src/buggy/scripts/controller/controller_node.py
index 3094ca8..1461a33 100755
--- a/rb_ws/src/buggy/scripts/controller/controller_node.py
+++ b/rb_ws/src/buggy/scripts/controller/controller_node.py
@@ -40,9 +40,9 @@ def __init__(self):
 
         start_index = self.cur_traj.get_index_from_distance(start_dist)
 
-        self.declare_parameter("controller_name", "stanley")
+        self.declare_parameter("controller", "stanley")
 
-        controller_name = self.get_parameter("controller_name").value
+        controller_name = self.get_parameter("controller").value
         print(controller_name.lower)
         if (controller_name.lower() == "stanley"):
             self.controller = StanleyController(start_index = start_index, namespace = self.get_namespace(), node=self) #IMPORT STANLEY
diff --git a/rb_ws/src/buggy/scripts/controller/stanley_controller.py b/rb_ws/src/buggy/scripts/controller/stanley_controller.py
index ce9b811..8c3ac1c 100755
--- a/rb_ws/src/buggy/scripts/controller/stanley_controller.py
+++ b/rb_ws/src/buggy/scripts/controller/stanley_controller.py
@@ -48,7 +48,7 @@ def compute_control(self, state_msg : Odometry, trajectory : Trajectory):
             float (desired steering angle)
         """
         if self.current_traj_index >= trajectory.get_num_points() - 1:
-            self.node.get_logger.error("[Stanley]: Ran out of path to follow!")
+            self.node.get_logger().error("[Stanley]: Ran out of path to follow!")
             raise Exception("[Stanley]: Ran out of path to follow!")
 
         current_rospose = state_msg.pose.pose
diff --git a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
index 0efffb6..7a9d160 100755
--- a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
+++ b/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
@@ -148,7 +148,6 @@ def set_steering(self, msg):
             self.steer_angle = msg.data
             self.fresh_steer = True
 
-
     def writer_thread(self):
         """
         Sends ROS Topics to bnayhaj serial, only sends a steering angle when we receive a fresh one
diff --git a/rb_ws/src/buggy/buggy/visualization/telematics.py b/rb_ws/src/buggy/scripts/visualization/telematics.py
similarity index 100%
rename from rb_ws/src/buggy/buggy/visualization/telematics.py
rename to rb_ws/src/buggy/scripts/visualization/telematics.py