diff --git a/.env.dev b/.env.dev
deleted file mode 100755
index baed5be1..00000000
--- a/.env.dev
+++ /dev/null
@@ -1,5 +0,0 @@
-GPS_PORT=/dev/null
-WEBCAM_PORT=/dev/null
-RLSENSE_PORT=/dev/null
-TEENSY_PORT=/dev/null
-FEATHER_PORT=/dev/null
diff --git a/.env.prod b/.env.prod
deleted file mode 100755
index ab907a32..00000000
--- a/.env.prod
+++ /dev/null
@@ -1,6 +0,0 @@
-GPS_PORT=/dev/serial/by-id/usb-Lord_Microstrain_Lord_Inertial_Sensor_0000_6284.114124-if00
-GPS_PORT_AUX=/dev/null
-WEBCAM_PORT=/dev/null
-RLSENSE_PORT=/dev/bus/usb
-TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0
-FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00
diff --git a/.gitignore b/.gitignore
index 78839b8e..60a64061 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,16 +3,6 @@ rb_ws/bags
.docker-compose.yml.un~
.python-requirements.txt.un~
docker-compose.yml~
-python-requirements.txt~
*TEMP_DO_NOT_EDIT.txt
-rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag
-rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag
-rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag
-rb_ws/src/buggy/bags/2023-02-12-11-39-27.bag
-rb_ws/src/buggy/bags/2023-02-18-02-23-26.bag
-rb_ws/src/buggy/bags/2023-02-19-11-21-56.bag
-rb_ws/src/buggy/bags/2023-02-19-11-27-49.bag
-rb_ws/src/buggy/bags/2023-02-19-11-38-48.bag
-rb_ws/src/buggy/bags/*
-rb_ws/src/buggy/launch/.main.launch.swp
+rb_ws/src/buggy/bags/*
*.bag
\ No newline at end of file
diff --git a/README.md b/README.md
old mode 100755
new mode 100644
index d92d1421..97625dc1
--- a/README.md
+++ b/README.md
@@ -1,144 +1,2 @@
-# RoboBuggy2
-A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit.
-
-
-## Table of Contents
- - Installation and Initial Setup
- - Launching Code
- - Infrastructure Documentation
- - Code Structure and Documentation
-
-
----
-## Installation and Initial Setup
-### Necessary + Recommended Software
-- Docker
-- Foxglove
-- VSCode (recommended)
-- Git (recommended)
-
-
-### Docker
-- Installation instructions here: https://docs.docker.com/get-docker/
-
-### Foxglove
-- Installation instructions here: https://foxglove.dev/
-
-### VSCode
-- https://code.visualstudio.com/download
-
-### Git
-- https://git-scm.com/downloads
-
-### Install Softwares: WSL, Ubuntu (Windows only)
-- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS".
-
-### Set up repo in WSL
-- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
-- Note: Ensure that the SSH keys are generated while in the WSL terminal
-- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
-
-
-### Apple Silicon Mac Only:
-- In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon"
-
-### Set up repository
-- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
-- Note: Ensure that the SSH keys are generated while in the terminal
-- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
-
-
-### Clone the Repository
-This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git.
-- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`.
-- The clone link above is the URL or can be found above: code -> local -> Clone HTTPS.
-
-
-### Foxglove Visualization
-- Foxglove is used to visualize both the simulator and the actual buggy's movements.
-- First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file".
-- 
-- Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json)
-- To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup.
-- Use this address `ws://localhost:8765` for Foxglove Websocket
-- Open Foxglove, choose the third option "start link".
-- 
-
-
-
-### X11 Setup (recommended)
-- Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.).
-- Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked.
-- Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt.
-- While in a bash shell with the X11 server running, run `xhost +local:docker`.
-- Boot up the docker container using the "Alternate Shortcut" above.
-- Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good.
-
-
-## Launching Code
-### Open Docker
-- Use `cd` to change the working directory to be `RoboBuggy2`
-- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
-- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
-- When you are done, type Ctrl+C and use `$exit` to exit.
-
-### ROS
-- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
-- (This should only need to be run the first time you set up the repository) - to build the ROS workspace and source it, run:
- catkin_make
- source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands
-- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials.
-
-### 2D Simulation
-- Boot up the docker container
-- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy
-- See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options
-- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
-
-
-
-- See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options
- - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading))
-- To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg.
-- See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel.
-
-### Connecting to and Launching the RoboBuggies
-When launching Short Circuit:
-- Connect to the Wi-Fi named ShortCircuit.
-- In the command line window:
-SSH to the computer on ShortCircuit and go to folder
-`$ ssh nuc@192.168.1.217`
-Then `$ cd RoboBuggy2`
-- Setup the docker
-`$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.)
-- Go to docker container
-`$ docker_exec`
-- Open foxglove and do local connection to “ws://192.168.1.217/8765”
-- Roslauch in docker container by `$ roslaunch buggy sc-main.launch`
-(wait until no longer prints “waiting for covariance to be better”)
-
-When launching NAND:
-- Ask software lead (WIP)
-
-When shutting down the buggy:
-- Stop roslauch
-`$ ^C (Ctrl+C)`
-- Leave the docker container
-`$ exit`
-- Shutdown the ShortCircuit computer
-`$ sudo shutdown now`
-
-## Documentation
-### Infrastructure Documentation
-Ask Software Lead (WIP)
-
-### Simulator notes
-- Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix)
-- UTM coordinates (assume we're in Zone 17N): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW)
-- INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm)
-Commands:
-- Steering angle: `/buggy/steering` in degrees (std_msgs/Float64)
-- Velocity: `/buggy/velocity` in m/s (std_msgs/Float64)
-
-### Auton Logic
-Ask someone with experience (WIP)
+# robobuggy-software
+A refactor of RoboBuggy2
\ No newline at end of file
diff --git a/README_ROBOBUGGY2.md b/README_ROBOBUGGY2.md
new file mode 100755
index 00000000..d92d1421
--- /dev/null
+++ b/README_ROBOBUGGY2.md
@@ -0,0 +1,144 @@
+# RoboBuggy2
+A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit.
+
+
+## Table of Contents
+ - Installation and Initial Setup
+ - Launching Code
+ - Infrastructure Documentation
+ - Code Structure and Documentation
+
+
+---
+## Installation and Initial Setup
+### Necessary + Recommended Software
+- Docker
+- Foxglove
+- VSCode (recommended)
+- Git (recommended)
+
+
+### Docker
+- Installation instructions here: https://docs.docker.com/get-docker/
+
+### Foxglove
+- Installation instructions here: https://foxglove.dev/
+
+### VSCode
+- https://code.visualstudio.com/download
+
+### Git
+- https://git-scm.com/downloads
+
+### Install Softwares: WSL, Ubuntu (Windows only)
+- Go to Microsoft Store to install "Ubuntu 20.04.6 LTS".
+
+### Set up repo in WSL
+- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
+- Note: Ensure that the SSH keys are generated while in the WSL terminal
+- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
+
+
+### Apple Silicon Mac Only:
+- In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon"
+
+### Set up repository
+- To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
+- Note: Ensure that the SSH keys are generated while in the terminal
+- In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account).
+
+
+### Clone the Repository
+This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git.
+- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`.
+- The clone link above is the URL or can be found above: code -> local -> Clone HTTPS.
+
+
+### Foxglove Visualization
+- Foxglove is used to visualize both the simulator and the actual buggy's movements.
+- First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file".
+- 
+- Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json)
+- To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup.
+- Use this address `ws://localhost:8765` for Foxglove Websocket
+- Open Foxglove, choose the third option "start link".
+- 
+
+
+
+### X11 Setup (recommended)
+- Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.).
+- Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked.
+- Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt.
+- While in a bash shell with the X11 server running, run `xhost +local:docker`.
+- Boot up the docker container using the "Alternate Shortcut" above.
+- Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good.
+
+
+## Launching Code
+### Open Docker
+- Use `cd` to change the working directory to be `RoboBuggy2`
+- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
+- Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
+- When you are done, type Ctrl+C and use `$exit` to exit.
+
+### ROS
+- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff.
+- (This should only need to be run the first time you set up the repository) - to build the ROS workspace and source it, run:
+ catkin_make
+ source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands
+- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials.
+
+### 2D Simulation
+- Boot up the docker container
+- Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy
+- See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options
+- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
+
+