diff --git a/src/Arm/arm_control/config/rover_urdf.srdf b/src/Arm/arm_control/config/rover_urdf.srdf
index adf451f4..011a3b69 100644
--- a/src/Arm/arm_control/config/rover_urdf.srdf
+++ b/src/Arm/arm_control/config/rover_urdf.srdf
@@ -28,6 +28,15 @@
         <joint name="Joint_6" value="0.0"/>
     </group_state>
 
+    <group_state name="Lowest front" group="arm">
+        <joint name="Joint_1" value="0.0"/>
+        <joint name="Joint_2" value="-1.4164782714913322"/>
+        <joint name="Joint_3" value="1.4664856332186729"/>
+        <joint name="Joint_4" value="0.0"/>
+        <joint name="Joint_5" value="0.8933393281059383"/>
+        <joint name="Joint_6" value="0.0"/>
+    </group_state>
+
     <group_state name="Front 40cm" group="arm">
         <joint name="Joint_1" value="0.0"/>
         <joint name="Joint_2" value="-1.026693041726237"/>
diff --git a/src/Cameras/video_streaming/config/cameras.yaml b/src/Cameras/video_streaming/config/cameras.yaml
index 0495fd32..c653d67e 100644
--- a/src/Cameras/video_streaming/config/cameras.yaml
+++ b/src/Cameras/video_streaming/config/cameras.yaml
@@ -7,7 +7,6 @@ input_node:
     - "EndEffector"
     - "Belly"
     - "Mast"
-    - "Test"
     Drive:
       path: "/dev/v4l/by-id/drive_camera"
       type: 0
@@ -30,6 +29,4 @@ input_node:
       type: 0
       encoded: true
       height: 768
-      width: 1024
-    Test:
-      type: 1
\ No newline at end of file
+      width: 1024
\ No newline at end of file
diff --git a/src/HW-Devices/gpio_controller/gpio_controller/mast_esp.py b/src/HW-Devices/gpio_controller/gpio_controller/mast_esp.py
index c1d52bee..69dfe9ad 100644
--- a/src/HW-Devices/gpio_controller/gpio_controller/mast_esp.py
+++ b/src/HW-Devices/gpio_controller/gpio_controller/mast_esp.py
@@ -41,12 +41,12 @@ def mast_callback(self, msg: Float32):
             msg.data, self.servo_min, self.servo_max, self.servo_rom
         )
         self.get_logger().debug(f"Received angle: {msg.data:.3f} rad -> PWM: {us} us")
-        data = bytes("S" + str(us), "utf-8")
+        data = bytes("S" + str(us) + "\n", "utf-8")
         self.ser.write(data)
 
     def morse_callback(self, msg: String):
         self.get_logger().info(f"Transmitting morse: {msg.data}")
-        data = bytes("M" + msg.data, "utf-8")
+        data = bytes("M" + msg.data + "\n", "utf-8")
         self.ser.write(data)
 
     def loop(self):
diff --git a/src/HW-Devices/gpio_controller/launch/core_gpio_devices.launch.py b/src/HW-Devices/gpio_controller/launch/core_gpio_devices.launch.py
index bf2430d6..8337c1f9 100644
--- a/src/HW-Devices/gpio_controller/launch/core_gpio_devices.launch.py
+++ b/src/HW-Devices/gpio_controller/launch/core_gpio_devices.launch.py
@@ -8,8 +8,8 @@ def generate_launch_description():
         [
             launch_ros.actions.Node(
                 package="gpio_controller",
-                executable="lights",
-                name="led_strip_nodes",
+                executable="headlights",
+                name="headlight_node",
             ),
             launch_ros.actions.Node(
                 package="gpio_controller",