diff --git a/high_level_control/scripts/teleop_control.py b/high_level_control/scripts/teleop_control.py
index 9b46f6a..1fe72f7 100644
--- a/high_level_control/scripts/teleop_control.py
+++ b/high_level_control/scripts/teleop_control.py
@@ -9,9 +9,37 @@
 from geometry_msgs.msg import Twist
 from sensor_msgs.msg import Joy
 
-class TeleopController:
-    #stuff
+class TeleopControl:
+    
+    # Constructor
+    def __init__(self):
+        
+        # Initialize publishers
+        self.drive_pub = rospy.Publisher('drive_cmd', Twist)
+
+        # Initialize subscribers
+        self.joy_sub = rospy.Subscriber("joy", Joy, self.joy_callback)
+
+
+    # Callback function for joystick controls
+    def joy_callback(self, data):
+        twist = Twist()
+        twist.linear.x = data.axes[1]
+        twist.angular.z = data.axes[0]
+        self.drive_pub.publish(twist)
 
 
 if __name__ = '__main__':
-    #stuff
\ No newline at end of file
+    
+    # Initialize as ROS node
+    rospy.init_node('teleop_control')
+
+    # Create a TeleopControl object 
+    control = TeleopControl()
+
+    # Ready to go
+    rospy.loginfo("Teleop Control initialized...")
+
+    # Loop continuously
+    while not rospy.is_shutdown():
+    	pass
\ No newline at end of file