diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py
index c10b13c91..4a5527c87 100644
--- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py
+++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py
@@ -1,4 +1,3 @@
-import rospy
 from ros_alarms import AlarmBroadcaster, HandlerBase
 from std_msgs.msg import Float32
 
@@ -8,13 +7,13 @@ class BatteryVoltage(HandlerBase):
 
     def __init__(self):
         self.broadcaster = AlarmBroadcaster(self.alarm_name)
-        self.low_threshold = rospy.get_param("~battery-voltage/low")
-        self.critical_threshold = rospy.get_param("~battery-voltage/critical")
-        self.voltage_sub = rospy.Subscriber(
-            "/battery_monitor",
+        self.low_threshold = self.declare_parameter("~battery-voltage/low")
+        self.critical_threshold = self.declare_parameter("~battery-voltage/critical")
+        self.voltage_sub = self.create_subscription(
             Float32,
+            "/battery_monitor",
             self._check_voltage,
-            queue_size=3,
+            3,
         )
         self._raised = False
         self._severity = 0
diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py
index 547c56fa8..540497f35 100644
--- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py
+++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 
-import rospy
 from actionlib import SimpleActionClient, TerminalState
 from mil_missions_core import MissionClient
 from mil_msgs.msg import BagOnlineAction, BagOnlineGoal
@@ -25,17 +24,17 @@ def __init__(self):
 
     def _online_bagger_cb(self, status, result):
         if status == 3:
-            rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}")
+            self.get_logger().info(f"KILL BAG WRITTEN TO {result.filename}")
         else:
-            rospy.logwarn(
+            self.get_logger().warn(
                 f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}",
             )
 
     def _kill_task_cb(self, status, result):
         if status == 3:
-            rospy.loginfo("Killed task success!")
+            self.get_logger().info("Killed task success!")
             return
-        rospy.logwarn(
+        self.get_logger().warn(
             f"Killed task failed ({TerminalState.to_string(status)}): {result.result}",
         )
 
@@ -45,7 +44,9 @@ def raised(self, alarm):
             self.first = False
             return
         if "BAG_ALWAYS" not in os.environ or "bag_kill" not in os.environ:
-            rospy.logwarn("BAG_ALWAYS or BAG_KILL not set. Not making kill bag.")
+            self.get_logger().warn(
+                "BAG_ALWAYS or BAG_KILL not set. Not making kill bag.",
+            )
         else:
             goal = BagOnlineGoal(bag_name="kill.bag")
             goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["BAG_KILL"]
@@ -72,7 +73,7 @@ def meta_predicate(self, meta_alarm, alarms):
             return Alarm(
                 "kill",
                 True,
-                node_name=rospy.get_name(),
+                node_name=self.get_name(),
                 problem_description="Killed by meta alarm(s) " + ", ".join(raised),
                 parameters={"Raised": raised},
             )
diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py
index d0fa63afd..803f53e10 100755
--- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py
+++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import numpy as np
-import rospy
 from mil_ros_tools import rosmsg_to_numpy
 from nav_msgs.msg import Odometry
 from ros_alarms import AlarmBroadcaster, HandlerBase, HeartbeatMonitor
@@ -32,12 +31,12 @@ def __init__(self):
             prd=self.TIMEOUT_SECONDS,
         )
         self.MAX_JUMP = 0.5
-        self.launch_time = rospy.Time.now()
+        self.launch_time = self.get_clock().now()
         self.last_time = self.launch_time
         self.last_position = None
         self._raised = False
         self.ab = AlarmBroadcaster("odom-kill", node_name="odom-kill")
-        rospy.Subscriber("/odom", Odometry, self.check_continuity, queue_size=5)
+        self.create_subscription(Odometry, "/odom", self.check_continuity, 5)
 
     def check_continuity(self, odom):
         """
@@ -49,7 +48,7 @@ def check_continuity(self, odom):
             jump = np.linalg.norm(position - self.last_position)
             if jump > self.MAX_JUMP and not self._raised:
                 self._raised = True  # Avoid raising multiple times
-                rospy.logwarn("ODOM DISCONTINUITY DETECTED")
+                self.get_logger().warn("ODOM DISCONTINUITY DETECTED")
                 self.ab.raise_alarm(
                     problem_description=f"ODOM DISCONTINUITY DETECTED. JUMPED {jump} METERS",
                     severity=5,
diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py
index 82e11ccdd..11f50821d 100644
--- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py
+++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import rospy
 from actionlib import TerminalState
 from mil_missions_core import MissionClient
 from ros_alarms import AlarmBroadcaster, HandlerBase
@@ -14,18 +13,18 @@ def __init__(self):
 
     def _client_cb(self, terminal_state, result):
         if terminal_state != 3:
-            rospy.logwarn(
+            self.get_logger().warn(
                 "Station hold goal failed (Status={}, Result={})".format(
                     TerminalState.to_string(terminal_state),
                     result.result,
                 ),
             )
             return
-        rospy.loginfo("Station holding!")
+        self.get_logger().info("Station holding!")
         self.broadcaster.clear_alarm()
 
     def raised(self, alarm):
-        rospy.loginfo("Attempting to station hold")
+        self.get_logger().info("Attempting to station hold")
         self.task_client.run_mission("StationHold", done_cb=self._client_cb)
 
     def cleared(self, alarm):
diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py
index ce89ac3a0..0b870bf67 100644
--- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py
+++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py
@@ -1,4 +1,3 @@
-import rospy
 from roboteq_msgs.msg import Status
 from ros_alarms import AlarmBroadcaster, HandlerBase
 
@@ -29,7 +28,12 @@ def __init__(self):
 
         # Subscribe to the status message for all thruster topics
         [
-            rospy.Subscriber(topic + "/status", Status, self._check_faults, topic)
+            self.create_subscription(
+                Status,
+                topic + "/status",
+                self._check_faults,
+                topic,
+            )
             for topic in motor_topics
         ]
 
diff --git a/NaviGator/mission_control/navigator_alarm/package.xml b/NaviGator/mission_control/navigator_alarm/package.xml
index e7b8c4be6..669eafdc0 100644
--- a/NaviGator/mission_control/navigator_alarm/package.xml
+++ b/NaviGator/mission_control/navigator_alarm/package.xml
@@ -8,6 +8,9 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>mil_tools</depend>
   <depend>nav_msgs</depend>
+  <depend>rclpy</depend>
   <depend>ros_alarms</depend>
-  <depend>rospy</depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
 </package>
diff --git a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
index 49b799fa4..01502a555 100755
--- a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
+++ b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py
@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
-import rospy
+import sys
+
+import rclpy
+from rclpy.duration import Duration
 from remote_control_lib import RemoteControl
 from sensor_msgs.msg import Joy
 
@@ -32,11 +35,11 @@ class Joystick:
     """
 
     def __init__(self):
-        self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600)
-        self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale", 500)
+        self.force_scale = self.declare_parameter("/joystick_wrench/force_scale", 600)
+        self.torque_scale = self.declare_parameter("/joystick_wrench/torque_scale", 500)
 
         self.remote = RemoteControl("emergency", "/wrench/emergency")
-        rospy.Subscriber("joy_emergency", Joy, self.joy_recieved)
+        self.create_subscription(Joy, "joy_emergency", self.joy_recieved)
 
         self.active = False
         self.reset()
@@ -80,15 +83,16 @@ def check_for_timeout(self, joy: Joy):
             # No change in state
             # The controller times out after 15 minutes
             if (
-                rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60)
+                self.get_clock().now() - self.last_joy.header.stamp
+                > Duration(seconds=(15 * 60))
                 and self.active
             ):
-                rospy.logwarn("Controller Timed out. Hold start to resume.")
+                self.get_logger().warn("Controller Timed out. Hold start to resume.")
                 self.reset()
 
         else:
             joy.header.stamp = (
-                rospy.Time.now()
+                self.get_clock().now()
             )  # In the sim, stamps weren't working right
             self.last_joy = joy
 
@@ -102,7 +106,7 @@ def joy_recieved(self, joy: Joy) -> None:
         Args:
             joy (Joy): The Joy message.
         """
-        self.last_time = rospy.Time.now()
+        self.last_time = self.get_clock().now()
         self.check_for_timeout(joy)
 
         # Assigns readable names to the buttons that are used
@@ -116,14 +120,14 @@ def joy_recieved(self, joy: Joy) -> None:
         thruster_deploy = bool(joy.buttons[5])
 
         if go_inactive and not self.last_go_inactive:
-            rospy.loginfo("Go inactive pressed. Going inactive")
+            self.get_logger().info("Go inactive pressed. Going inactive")
             self.reset()
             return
 
         # Reset controller state if only start is pressed down about 1 seconds
         self.start_count += start
         if self.start_count > 5:
-            rospy.loginfo("Resetting controller state")
+            self.get_logger().info("Resetting controller state")
             self.reset()
             self.active = True
 
@@ -170,19 +174,22 @@ def joy_recieved(self, joy: Joy) -> None:
         rotation = joy.axes[3] * self.torque_scale
         self.remote.publish_wrench(x, y, rotation, joy.header.stamp)
 
-    def die_check(self, _: rospy.timer.TimerEvent) -> None:
+    def die_check(self, _: rclpy.timer.TimerEvent) -> None:
         """
         Publishes zeros after 2 seconds of no update in case node dies.
         """
         # No new instructions after 2 seconds
-        if self.active and rospy.Time.now() - self.last_time > rospy.Duration(2):
+        if self.active and self.get_clock().now() - self.last_time > Duration(
+            seconds=2,
+        ):
             # Zero the wrench, reset
             self.reset()
 
 
 if __name__ == "__main__":
-    rospy.init_node("emergency")
+    rclpy.init(args=sys.argv)
+    node = rclpy.create_node("emergency")
 
     emergency = Joystick()
-    rospy.Timer(rospy.Duration(1), emergency.die_check, oneshot=False)
-    rospy.spin()
+    node.create_timer(Duration(seconds=1.0), emergency.die_check)
+    rclpy.spin(node)
diff --git a/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py b/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py
index 3d9ad194b..dd4af9b46 100755
--- a/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py
+++ b/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py
@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
-import rospy
+import sys
+
+import rclpy
+from rclpy.duration import Duration
 from remote_control_lib import RemoteControl
 from sensor_msgs.msg import Joy
 
@@ -11,12 +14,12 @@
 
 class Joystick:
     def __init__(self):
-        self.force_scale = rospy.get_param("~force_scale", 600)
-        self.torque_scale = rospy.get_param("~torque_scale", 500)
+        self.force_scale = self.declare_parameter("~force_scale", 600)
+        self.torque_scale = self.declare_parameter("~torque_scale", 500)
 
         self.remote = RemoteControl("joystick", "/wrench/rc")
         self.reset()
-        rospy.Subscriber("joy", Joy, self.joy_recieved)
+        self.create_subscription(Joy, "joy", self.joy_recieved)
 
     def reset(self):
         """
@@ -49,15 +52,16 @@ def check_for_timeout(self, joy):
         if (
             joy.axes == self.last_joy.axes
             and joy.buttons == self.last_joy.buttons
-            and rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60)
+            and self.get_clock().now() - self.last_joy.header.stamp
+            > Duration(seconds=(15 * 60))
             and self.active
         ):
-            rospy.logwarn("Controller Timed out. Hold start to resume.")
+            self.get_logger().warn("Controller Timed out. Hold start to resume.")
             self.reset()
 
         else:
             joy.header.stamp = (
-                rospy.Time.now()
+                self.get_clock().now()
             )  # In the sim, stamps weren't working right
             self.last_joy = joy
 
@@ -78,14 +82,14 @@ def joy_recieved(self, joy):
         thruster_deploy = bool(joy.buttons[5])  # RB
 
         if back and not self.last_back:
-            rospy.loginfo("Back pressed. Going inactive")
+            self.get_logger().info("Back pressed. Going inactive")
             self.reset()
             return
 
         # Reset controller state if only start is pressed down about 1 second
         self.start_count += start
         if self.start_count > 5:
-            rospy.loginfo("Resetting controller state")
+            self.get_logger().info("Resetting controller state")
             self.reset()
             self.active = True
 
@@ -143,11 +147,13 @@ def joy_recieved(self, joy):
         x = joy.axes[1] * self.force_scale
         y = joy.axes[0] * self.force_scale
         rotation = joy.axes[3] * self.torque_scale
-        self.remote.publish_wrench(x, y, rotation, rospy.Time.now())
+        self.remote.publish_wrench(x, y, rotation, self.get_clock().now())
 
 
 if __name__ == "__main__":
-    rospy.init_node("joystick")
+    rclpy.init(args=sys.argv)
+    node = rclpy.create_node("joystick")
 
     joystick = Joystick()
-    rospy.spin()
+
+    rclpy.spin(node)
diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py
index da34ee22c..7285b32db 100755
--- a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py
+++ b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py
@@ -7,18 +7,20 @@
 calls. Curses is used to display a basic UI in the terminal that gives the user
 useful feedback and captures key presses to be sent to the server.
 """
-
 import contextlib
 import curses
+import sys
 from typing import Optional
 
-import rospy
+import rclpy
 from navigator_msgs.srv import KeyboardControl
+from rclpy.duration import Duration
 
 __author__ = "Anthony Olive"
 
 
-rospy.init_node("keyboard_client", anonymous=True)
+rclpy.init(args=sys.argv)
+node = rclpy.create_node("keyboard_client", anonymous=True)
 
 
 class KeyboardClient:
@@ -31,7 +33,7 @@ def __init__(self, stdscr):
         self.uuid = ""
         self.is_locked = False
 
-        self.keyboard_server = rospy.ServiceProxy("/keyboard_control", KeyboardControl)
+        self.keyboard_server = self.create_client(KeyboardControl, "/keyboard_control")
 
         self.help_menu = [
             "Lock:                 L          ",
@@ -64,19 +66,19 @@ def read_key(self) -> Optional[int]:
         new_keycode = self.screen.getch()
 
         # This eliminates building a buffer of keys that takes forever to process
-        while (new_keycode != -1) and (not rospy.is_shutdown()):
+        while (new_keycode != -1) and (not self.is_shutdown()):
             keycode = new_keycode
             new_keycode = self.screen.getch()
 
         # The 'q' key can be used to quit the program
         if keycode == ord("q"):
-            rospy.signal_shutdown("The user has closed the keyboard client")
+            rclpy.shutdown("The user has closed the keyboard client")
         elif keycode == ord("H"):
             raise NotImplementedError("Kevin, you just threw away your shot!")
 
         return keycode if keycode != -1 else None
 
-    def send_key(self, _: rospy.timer.TimerEvent) -> None:
+    def send_key(self, _: rclpy.timer.TimerEvent) -> None:
         """
         Sends the key to the keyboard server and stores the returned locked
         status and generated UUID (if one was received).
@@ -138,12 +140,16 @@ def clear(self) -> None:
 
 
 def main(stdscr):
-    rospy.wait_for_service("/keyboard_control")
+    while not rclpy.wait_for_service(node, "/keyboard_control", timeout_sec=1.0):
+        node.get_logger().info("service not available, waiting again...")
     tele = KeyboardClient(stdscr)
-    rospy.Timer(rospy.Duration(0.05), tele.send_key, oneshot=False)
-    rospy.spin()
+    node.create_timer(Duration(seconds=0.05), tele.send_key)
+    rclpy.spin(node)
 
 
 if __name__ == "__main__":
-    with contextlib.suppress(rospy.ROSInterruptException):
+    # with contextlib.suppress(rospy.ROSInterruptException):
+    #   curses.wrapper(main)
+    with contextlib.suppress(rclpy.ROSInterruptException):
         curses.wrapper(main)
+    # not sure about this change, could not find any migration solution
diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py
index 8da84467a..1337839c9 100755
--- a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py
+++ b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py
@@ -10,25 +10,27 @@
 
 
 import curses
+import sys
 import uuid
 
-import rospy
+import rclpy
 from navigator_msgs.srv import KeyboardControl, KeyboardControlRequest
 from remote_control_lib import RemoteControl
 
 __author__ = "Anthony Olive"
 
 
-rospy.init_node("keyboard_server")
+rclpy.init(args=sys.argv)
+node = rclpy.create_node("keyboard_server")
 
 
 class KeyboardServer:
     def __init__(self):
-        self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600)
-        self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale", 500)
+        self.force_scale = self.declare_parameter("/joystick_wrench/force_scale", 600)
+        self.torque_scale = self.declare_parameter("/joystick_wrench/torque_scale", 500)
 
         self.remote = RemoteControl("keyboard", "/wrench/keyboard")
-        rospy.Service("/keyboard_control", KeyboardControl, self.key_recieved)
+        self.create_service(KeyboardControl, "/keyboard_control", self.key_recieved)
 
         # Initialize this to a random UUID so that a client without a UUID cannot authenticate
         self.locked_uuid = uuid.uuid4().hex
@@ -115,4 +117,4 @@ def execute_key(self, key: int):
 
 if __name__ == "__main__":
     keyboard = KeyboardServer()
-    rospy.spin()
+    rclpy.spin(node)
diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py b/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py
index 4b0aa11f0..9e9688b60 100755
--- a/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py
+++ b/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py
@@ -11,12 +11,12 @@
 
 import actionlib
 import genpy
-import rospy
 from actionlib import TerminalState
 from geometry_msgs.msg import WrenchStamped
 from mil_missions_core import MissionClient
 from navigator_msgs.msg import ShooterDoAction, ShooterDoActionGoal
 from navigator_msgs.srv import ShooterManual
+from rclpy.duration import Duration
 from ros_alarms import AlarmBroadcaster, AlarmListener
 from std_srvs.srv import Trigger, TriggerRequest
 from topic_tools.srv import MuxSelect
@@ -39,7 +39,7 @@ def __init__(self, controller_name: str, wrench_pub: Optional[str] = None):
         self.kill_broadcaster = AlarmBroadcaster("kill")
         self.station_hold_broadcaster = AlarmBroadcaster("station-hold")
 
-        self.wrench_changer = rospy.ServiceProxy("/wrench/select", MuxSelect)
+        self.wrench_changer = self.create_client(MuxSelect, "/wrench/select")
         self.task_client = MissionClient()
         self.kill_listener = AlarmListener(
             "kill",
@@ -49,7 +49,7 @@ def __init__(self, controller_name: str, wrench_pub: Optional[str] = None):
         if wrench_pub is None:
             self.wrench_pub = wrench_pub
         else:
-            self.wrench_pub = rospy.Publisher(wrench_pub, WrenchStamped, queue_size=1)
+            self.wrench_pub = self.create_publisher(WrenchStamped, wrench_pub, 1)
 
         self.shooter_load_client = actionlib.SimpleActionClient(
             "/shooter/load",
@@ -59,12 +59,12 @@ def __init__(self, controller_name: str, wrench_pub: Optional[str] = None):
             "/shooter/fire",
             ShooterDoAction,
         )
-        self.shooter_cancel_client = rospy.ServiceProxy("/shooter/cancel", Trigger)
-        self.shooter_manual_client = rospy.ServiceProxy(
-            "/shooter/manual",
+        self.shooter_cancel_client = self.create_client(Trigger, "/shooter/cancel")
+        self.shooter_manual_client = self.create_client(
             ShooterManual,
+            "/shooter/manual",
         )
-        self.shooter_reset_client = rospy.ServiceProxy("/shooter/reset", Trigger)
+        self.shooter_reset_client = self.create_client(Trigger, "/shooter/reset")
 
         self.is_killed = False
         self.is_timed_out = False
@@ -95,7 +95,7 @@ def kill(self, *args, **kwargs) -> None:
         """
         Kills the system regardless of what state it is in.
         """
-        rospy.loginfo("Killing")
+        self.get_logger().info("Killing")
         self.kill_broadcaster.raise_alarm(
             problem_description="System kill from user remote control",
             parameters={"location": self.name},
@@ -106,7 +106,7 @@ def clear_kill(self, *args, **kwargs) -> None:
         """
         Clears the system kill regardless of what state it is in.
         """
-        rospy.loginfo("Reviving")
+        self.get_logger().info("Reviving")
         self.kill_broadcaster.clear_alarm()
 
     @_timeout_check
@@ -114,7 +114,7 @@ def toggle_kill(self, *args, **kwargs) -> None:
         """
         Toggles the kill status when the toggle_kill_button is pressed.
         """
-        rospy.loginfo("Toggling Kill")
+        self.get_logger().info("Toggling Kill")
 
         # Responds to the kill broadcaster and checks the status of the kill alarm
         if self.is_killed:
@@ -131,7 +131,7 @@ def station_hold(self, *args, **kwargs) -> None:
         Sets the goal point to the current location and switches to autonomous
         mode in order to stay at that point.
         """
-        rospy.loginfo("Station Holding")
+        self.get_logger().info("Station Holding")
 
         # Trigger station holding at the current pose
         self.station_hold_broadcaster.raise_alarm(
@@ -147,9 +147,9 @@ def deploy_thrusters(self, *args, **kwargs) -> None:
 
         def cb(terminal_state, result):
             if terminal_state == 3:
-                rospy.loginfo("Thrusters Deployed!")
+                self.get_logger().info("Thrusters Deployed!")
             else:
-                rospy.logwarn(
+                self.get_logger().warn(
                     "Error deploying thrusters: {}, status: {}".format(
                         TerminalState.to_string(terminal_state),
                         result.status,
@@ -166,9 +166,9 @@ def retract_thrusters(self, *args, **kwargs) -> None:
 
         def cb(terminal_state, result):
             if terminal_state == 3:
-                rospy.loginfo("Thrusters Retracted!")
+                self.get_logger().info("Thrusters Retracted!")
             else:
-                rospy.logwarn(
+                self.get_logger().warn(
                     "Error rectracting thrusters: {}, status: {}".format(
                         TerminalState.to_string(terminal_state),
                         result.status,
@@ -182,7 +182,7 @@ def select_autonomous_control(self, *args, **kwargs) -> None:
         """
         Selects the autonomously generated trajectory as the active controller.
         """
-        rospy.loginfo("Changing Control to Autonomous")
+        self.get_logger().info("Changing Control to Autonomous")
         self.wrench_changer("autonomous")
 
     @_timeout_check
@@ -190,14 +190,14 @@ def select_rc_control(self, *args, **kwargs) -> None:
         """
         Selects the Xbox remote joystick as the active controller.
         """
-        rospy.loginfo("Changing Control to RC")
+        self.get_logger().info("Changing Control to RC")
         self.wrench_changer("rc")
 
     def select_emergency_control(self, *args, **kwargs) -> None:
         """
         Selects the emergency controller as the active controller.
         """
-        rospy.loginfo("Changing Control to Emergency Controller")
+        self.get_logger().info("Changing Control to Emergency Controller")
         self.wrench_changer("emergency")
 
     @_timeout_check
@@ -205,7 +205,7 @@ def select_keyboard_control(self, *args, **kwargs) -> None:
         """
         Selects the keyboard teleoperation service as the active controller.
         """
-        rospy.loginfo("Changing Control to Keyboard")
+        self.get_logger().info("Changing Control to Keyboard")
         self.wrench_changer("keyboard")
 
     @_timeout_check
@@ -214,14 +214,14 @@ def select_next_control(self, *args, **kwargs) -> None:
         Selects the autonomously generated trajectory as the active controller.
         """
         mode = next(self.wrench_choices)
-        rospy.loginfo(f"Changing Control Mode: {mode}")
+        self.get_logger().info(f"Changing Control Mode: {mode}")
         self.wrench_changer(mode)
 
     def _shooter_load_feedback(self, status, result):
         """
         Prints the feedback that is returned by the shooter load action client
         """
-        rospy.loginfo(
+        self.get_logger().info(
             "Shooter Load Status={} Success={} Error={}".format(
                 status,
                 result.success,
@@ -238,13 +238,13 @@ def shooter_load(self, *args, **kwargs) -> None:
             goal=ShooterDoActionGoal(),
             done_cb=self._shooter_load_feedback,
         )
-        rospy.loginfo("Kip, do not throw away your shot.")
+        self.get_logger().info("Kip, do not throw away your shot.")
 
     def _shooter_fire_feedback(self, status, result) -> None:
         """
         Prints the feedback that is returned by the shooter fire action client
         """
-        rospy.loginfo(
+        self.get_logger().info(
             "Shooter Fire Status={} Success={} Error={}".format(
                 status,
                 result.success,
@@ -262,7 +262,7 @@ def shooter_fire(self, *args, **kwargs) -> None:
             goal=ShooterDoActionGoal(),
             done_cb=self._shooter_fire_feedback,
         )
-        rospy.loginfo(
+        self.get_logger().info(
             "One, two, three, four, five, six, seven, eight, nine. Number... TEN PACES! FIRE!",
         )
 
@@ -272,10 +272,10 @@ def shooter_cancel(self, *args, **kwargs) -> None:
         Cancels the process that the shooter action client is currently
         running.
         """
-        rospy.loginfo("Canceling shooter requests")
+        self.get_logger().info("Canceling shooter requests")
         self.shooter_cancel_client(TriggerRequest())
-        rospy.loginfo("I imaging death so much it feels more like a memory.")
-        rospy.loginfo(
+        self.get_logger().info("I imaging death so much it feels more like a memory.")
+        self.get_logger().info(
             "When's it gonna get me? While I'm blocked? Seven clocks ahead of me?",
         )
 
@@ -283,9 +283,9 @@ def _shooter_reset_helper(self, event):
         """
         Used to actually call the shooter's reset service.
         """
-        rospy.loginfo("Resetting the shooter service")
+        self.get_logger().info("Resetting the shooter service")
         self.shooter_reset_client(TriggerRequest())
-        rospy.loginfo(
+        self.get_logger().info(
             "In New York you can be a new man! In New York you can be a new man!",
         )
 
@@ -296,7 +296,7 @@ def shooter_reset(self, *args, **kwargs) -> None:
         using a ~6s delay before calling the actual reset service.
         """
         self.shooter_linear_retract()
-        rospy.Timer(rospy.Duration(6), self._shooter_reset_helper, oneshot=True)
+        self.create_timer(Duration(seconds=6), self._shooter_reset_helper)
 
     @_timeout_check
     def shooter_linear_extend(self, *args, **kwargs):
@@ -304,7 +304,7 @@ def shooter_linear_extend(self, *args, **kwargs):
         Extends the shooter's linear actuator by setting it's speed to full
         forward.
         """
-        rospy.loginfo("Extending the shooter's linear actuator")
+        self.get_logger().info("Extending the shooter's linear actuator")
         self.shooter_manual_client(1, 0)
 
     @_timeout_check
@@ -313,7 +313,7 @@ def shooter_linear_retract(self, *args, **kwargs):
         Retracts the shooter's linear actuator by setting it's speed to full
         reverse.
         """
-        rospy.loginfo("Retracting the shooter's linear actuator")
+        self.get_logger().info("Retracting the shooter's linear actuator")
         self.shooter_manual_client(-1, 0)
 
     @_timeout_check
@@ -326,7 +326,9 @@ def set_disc_speed(self, speed: int, *args, **kwargs) -> None:
         Args:
             speed (int): The speed to set the shooter disc to.
         """
-        rospy.loginfo(f"Setting the shooter's accelerator disc speed to {speed}")
+        self.get_logger().info(
+            f"Setting the shooter's accelerator disc speed to {speed}",
+        )
         self.shooter_manual_client(0, float(speed) / -100)
 
     @_timeout_check
@@ -351,7 +353,7 @@ def publish_wrench(
                 If ``None``, then use the current time.
         """
         if stamp is None:
-            stamp = rospy.Time.now()
+            stamp = self.get_clock().now()
 
         if self.wrench_pub is not None:
             wrench = WrenchStamped()
@@ -371,7 +373,7 @@ def clear_wrench(self, *args, **kwargs) -> None:
         if self.wrench_pub is not None:
             wrench = WrenchStamped()
             wrench.header.frame_id = "/base_link"
-            wrench.header.stamp = rospy.Time.now()
+            wrench.header.stamp = self.get_clock().now()
             wrench.wrench.force.x = 0
             wrench.wrench.force.y = 0
             wrench.wrench.torque.z = 0
diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt b/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt
deleted file mode 100644
index 699568ff0..000000000
--- a/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(sub8_thrust_and_kill_board)
-find_package(catkin REQUIRED COMPONENTS
-  mil_usb_to_can
-)
-catkin_python_setup()
-catkin_package()
diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/package.xml b/SubjuGator/drivers/sub8_thrust_and_kill_board/package.xml
index 5dfb49e92..debf6fc39 100644
--- a/SubjuGator/drivers/sub8_thrust_and_kill_board/package.xml
+++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/package.xml
@@ -10,4 +10,7 @@
   <build_depend>mil_usb_to_can</build_depend>
   <build_export_depend>mil_usb_to_can</build_export_depend>
   <exec_depend>mil_usb_to_can</exec_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
 </package>
diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py
index 19df02c33..fe7591af1 100644
--- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py
+++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py
@@ -1,9 +1,9 @@
 #!/usr/bin/python3
-import rospy
+import rclpy
 from mil_usb_to_can.sub8 import CANDeviceHandle
+from rclpy.timer import TimerEvent
 from ros_alarms import AlarmBroadcaster, AlarmListener
 from ros_alarms_msgs.msg import Alarm
-from rospy.timer import TimerEvent
 from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse
 from subjugator_msgs.msg import Thrust
 
@@ -27,7 +27,7 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
         # Initialize thruster mapping from params
         self.thrusters, self.name_to_id = make_thruster_dictionary(
-            rospy.get_param("/thruster_layout/thrusters"),
+            self.declare_parameter("/thruster_layout/thrusters").value,
         )
         # Tracks last hw-kill alarm update
         self._last_hw_kill = None
@@ -43,19 +43,19 @@ def __init__(self, *args, **kwargs):
             callback_funct=self.on_hw_kill,
         )
         # Provide service for alarm handler to set/clear the motherboard kill
-        self._unkill_service = rospy.Service(
-            "/set_mobo_kill",
+        self._unkill_service = self.create_service(
             SetBool,
+            "/set_mobo_kill",
             self.set_mobo_kill,
         )
         # Sends heartbeat to board
-        self._heartbeat_timer = rospy.Timer(rospy.Duration(0.4), self.send_heartbeat)
+        self._heartbeat_timer = rclpy.create_timer(0.4, self.send_heartbeat)
         # Create a subscribe for thruster commands
-        self._sub = rospy.Subscriber(
-            "/thrusters/thrust",
+        self._sub = self.create_subscription(
             Thrust,
+            "/thrusters/thrust",
             self.on_command,
-            queue_size=10,
+            10,
         )
 
     def set_mobo_kill(self, req: SetBoolRequest) -> SetBoolResponse:
@@ -108,7 +108,7 @@ def on_command(self, msg: Thrust) -> None:
         for cmd in msg.thruster_commands:
             # If we don't have a mapping for this thruster, ignore it
             if cmd.name not in self.thrusters:
-                rospy.logwarn(
+                self.get_logger().warn(
                     f"Command received for {cmd.name}, but this is not a thruster.",
                 )
                 continue
diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py
index 83c595815..66ade6750 100644
--- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py
+++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py
@@ -1,6 +1,7 @@
 #!/usr/bin/python3
-import rospy
+import rclpy
 from mil_usb_to_can.sub8 import SimulatedCANDevice
+from rclpy.duration import Duration
 from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse
 
 from .packets import (
@@ -27,7 +28,7 @@ class ThrusterAndKillBoardSimulation(SimulatedCANDevice):
         soft_kill_mobo (bool): Whether the motherboard experienced a soft kill request.
     """
 
-    HEARTBEAT_TIMEOUT_SECONDS = rospy.Duration(1.0)
+    HEARTBEAT_TIMEOUT_SECONDS = Duration(seconds=1.0)
 
     def __init__(self, *args, **kwargs):
         self.hard_kill_plug_pulled = False
@@ -37,18 +38,18 @@ def __init__(self, *args, **kwargs):
         self.go_button = False
         self._last_heartbeat = None
         super().__init__(*args, **kwargs)
-        self._update_timer = rospy.Timer(rospy.Duration(1), self.send_updates)
-        self._soft_kill = rospy.Service(
-            "/simulate_soft_kill",
+        self._update_timer = rclpy.create_timer(1.0, self.send_updates)
+        self._soft_kill = self.create_service(
             SetBool,
+            "/simulate_soft_kill",
             self.set_soft_kill,
         )
-        self._hard_kill = rospy.Service(
-            "/simulate_hard_kill",
+        self._hard_kill = self.create_service(
             SetBool,
+            "/simulate_hard_kill",
             self.set_hard_kill,
         )
-        self._go_srv = rospy.Service("/simulate_go", SetBool, self._on_go_srv)
+        self._go_srv = self.create_service(SetBool, "/simulate_go", self._on_go_srv)
 
     def _on_go_srv(self, req):
         self.go_button = req.data
@@ -102,7 +103,7 @@ def heartbeat_timedout(self) -> bool:
         """
         return (
             self._last_heartbeat is None
-            or (rospy.Time.now() - self._last_heartbeat)
+            or (self.get_clock().now() - self._last_heartbeat)
             > self.HEARTBEAT_TIMEOUT_SECONDS
         )
 
@@ -154,6 +155,6 @@ def on_data(self, data: bytes, can_id: int) -> None:
             packet = ThrustPacket.from_bytes(data)
         elif data[0] == HeartbeatMessage.IDENTIFIER:
             packet = HeartbeatMessage.from_bytes(data)
-            self._last_heartbeat = rospy.Time.now()
+            self._last_heartbeat = self.get_clock().now()
         else:
             raise Exception("No recognized identifier")