diff --git a/src/modelec/CMakeLists.txt b/src/modelec/CMakeLists.txt
index c120c23..e30f594 100644
--- a/src/modelec/CMakeLists.txt
+++ b/src/modelec/CMakeLists.txt
@@ -31,9 +31,9 @@ target_include_directories(serial_listener PUBLIC
 )
 
 # USB Arduino Logic Processor Node
-add_executable(usb_arduino_logic_processor src/usb_arduino_logic_processor.cpp)
-ament_target_dependencies(usb_arduino_logic_processor rclcpp std_msgs modelec_interface)
-target_include_directories(usb_arduino_logic_processor PUBLIC
+add_executable(odometry_logic_processor src/odometry_logic_processor.cpp)
+ament_target_dependencies(odometry_logic_processor rclcpp std_msgs modelec_interface)
+target_include_directories(odometry_logic_processor PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
@@ -119,7 +119,7 @@ endif()
 # Install targets
 install(TARGETS
   serial_listener
-  usb_arduino_logic_processor
+  odometry_logic_processor
   pca9685_controller
   gamecontroller_listener
   move_controller
diff --git a/src/modelec/include/modelec/arm_controller.hpp b/src/modelec/include/modelec/arm_controller.hpp
index b07161f..e57551f 100644
--- a/src/modelec/include/modelec/arm_controller.hpp
+++ b/src/modelec/include/modelec/arm_controller.hpp
@@ -4,7 +4,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <modelec_interface/msg/pca9685_servo.hpp>
 #include <modelec_interface/msg/servo_mode.hpp>
-#include <modelec_interface/srv/new_servo_motor.hpp>
+#include <modelec_interface/srv/add_servo_motor.hpp>
 #include <rclcpp/subscription.hpp>
 #include <map>
 
@@ -52,7 +52,7 @@ namespace Modelec {
         };
 
         // service lient to add a servo
-        rclcpp::Client<modelec_interface::srv::NewServoMotor>::SharedPtr client_;
+        rclcpp::Client<modelec_interface::srv::AddServoMotor>::SharedPtr client_;
 
         void ControlPince(const Mode::SharedPtr msg);
         void ControlArm(const Mode::SharedPtr msg);
diff --git a/src/modelec/include/modelec/button_gpio_controller.hpp b/src/modelec/include/modelec/button_gpio_controller.hpp
index 1634f92..fc53958 100644
--- a/src/modelec/include/modelec/button_gpio_controller.hpp
+++ b/src/modelec/include/modelec/button_gpio_controller.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <modelec_interface/srv/new_button.hpp>
+#include <modelec_interface/srv/add_button.hpp>
 #include <modelec_interface/srv/button.hpp>
 #include <modelec_interface/msg/button.hpp>
 #include <wiringPi.h>
@@ -20,11 +20,11 @@ namespace Modelec {
 
     private:
         // service
-        rclcpp::Service<modelec_interface::srv::NewButton>::SharedPtr new_button_service_;
+        rclcpp::Service<modelec_interface::srv::AddButton>::SharedPtr new_button_service_;
         rclcpp::Service<modelec_interface::srv::Button>::SharedPtr button_server_;
 
         // service callbacks
-        void new_button(const std::shared_ptr<modelec_interface::srv::NewButton::Request> request, std::shared_ptr<modelec_interface::srv::NewButton::Response> response);
+        void new_button(const std::shared_ptr<modelec_interface::srv::AddButton::Request> request, std::shared_ptr<modelec_interface::srv::AddButton::Response> response);
         void check_button(const std::shared_ptr<modelec_interface::srv::Button::Request> request, std::shared_ptr<modelec_interface::srv::Button::Response> response);
 
         // timer
diff --git a/src/modelec/include/modelec/gamecontroller_listener.hpp b/src/modelec/include/modelec/gamecontroller_listener.hpp
index dc859c2..6eb397d 100644
--- a/src/modelec/include/modelec/gamecontroller_listener.hpp
+++ b/src/modelec/include/modelec/gamecontroller_listener.hpp
@@ -9,7 +9,7 @@
 #include <sensor_msgs/msg/joy.hpp>
 #include <modelec_interface/msg/servo_mode.hpp>
 #include <modelec_interface/msg/pca9685_servo.hpp>
-#include <modelec_interface/srv/new_servo_motor.hpp>
+#include <modelec_interface/srv/add_servo_motor.hpp>
 #include <modelec/utils.hpp>
 
 namespace Modelec {
@@ -43,10 +43,10 @@ namespace Modelec {
 
         rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr subscription_;
         rclcpp::Publisher<ServoMode>::SharedPtr servo_publisher_;
-        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr arduino_publisher_;
+        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr odometry_publisher_;
         rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr clear_pca_publisher_;
         rclcpp::Publisher<modelec_interface::msg::PCA9685Servo>::SharedPtr pca9685_publisher_;
-        rclcpp::Client<modelec_interface::srv::NewServoMotor>::SharedPtr client_;
+        rclcpp::Client<modelec_interface::srv::AddServoMotor>::SharedPtr client_;
 
         void CheckButton(const sensor_msgs::msg::Joy::SharedPtr msg);
         void CheckAxis(const sensor_msgs::msg::Joy::SharedPtr msg);
diff --git a/src/modelec/include/modelec/move_controller.hpp b/src/modelec/include/modelec/move_controller.hpp
index 9209916..2a49a1e 100644
--- a/src/modelec/include/modelec/move_controller.hpp
+++ b/src/modelec/include/modelec/move_controller.hpp
@@ -11,17 +11,11 @@ namespace Modelec {
         MoveController();
 
     private:
-        rclcpp::TimerBase::SharedPtr timer;
-        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher;
-        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber;
+        rclcpp::TimerBase::SharedPtr timer_;
+        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 
-        float speedX, speedZ;
+        float x = 0, y = 0, theta = 0;
 
-        float x, y, z, theta;
-        float x_target, y_target, z_target, theta_target;
-
-        void move();
-
-        void move_target_callback(const std_msgs::msg::String::SharedPtr msg);
+        void PublishPosition();
     };
 }
\ No newline at end of file
diff --git a/src/modelec/include/modelec/multiple_serial_listener.hpp b/src/modelec/include/modelec/multiple_serial_listener.hpp
index 1ce5be1..a7b1f49 100644
--- a/src/modelec/include/modelec/multiple_serial_listener.hpp
+++ b/src/modelec/include/modelec/multiple_serial_listener.hpp
@@ -4,7 +4,6 @@
 #include <boost/asio.hpp>
 #include <std_msgs/msg/string.hpp>
 #include <modelec_interface/srv/add_serial_listener.hpp>
-#include <thread>
 
 #define MAX_MESSAGE_LEN 1048
 #define READ_REFRESH_RATE 100 //ms
diff --git a/src/modelec/include/modelec/odometry_logic_processor.hpp b/src/modelec/include/modelec/odometry_logic_processor.hpp
new file mode 100644
index 0000000..1bef65b
--- /dev/null
+++ b/src/modelec/include/modelec/odometry_logic_processor.hpp
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+#include <modelec/utils.hpp>
+#include <modelec_interface/msg/odometry_data.hpp>
+
+namespace Modelec {
+  class odometry_logic_processor : public rclcpp::Node {
+  public:
+    odometry_logic_processor();
+  private:
+    void processData(const std::string &data);
+
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_to_odometry_;
+    rclcpp::Publisher<modelec_interface::msg::OdometryData>::SharedPtr publisher_odometry_;
+  };
+}
diff --git a/src/modelec/include/modelec/pca9685_controller.hpp b/src/modelec/include/modelec/pca9685_controller.hpp
index d85a052..9a62cd1 100644
--- a/src/modelec/include/modelec/pca9685_controller.hpp
+++ b/src/modelec/include/modelec/pca9685_controller.hpp
@@ -6,7 +6,7 @@
 #include <wiringPiI2C.h>
 
 #include <modelec_interface/msg/pca9685_servo.hpp>
-#include <modelec_interface/srv/new_servo_motor.hpp>
+#include <modelec_interface/srv/add_servo_motor.hpp>
 #include <std_msgs/msg/empty.hpp>
 
 #define PCA9685_FREQUENCY 25000000.0
@@ -31,7 +31,7 @@ namespace Modelec {
         std::unordered_set<int> active_servos;
 
         // service to add a servo
-        rclcpp::Service<modelec_interface::srv::NewServoMotor>::SharedPtr add_servo_service_;
+        rclcpp::Service<modelec_interface::srv::AddServoMotor>::SharedPtr add_servo_service_;
 
         OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
         rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector<rclcpp::Parameter> &parameters);
diff --git a/src/modelec/include/modelec/solenoid_controller.hpp b/src/modelec/include/modelec/solenoid_controller.hpp
index c3a2b8c..a099026 100644
--- a/src/modelec/include/modelec/solenoid_controller.hpp
+++ b/src/modelec/include/modelec/solenoid_controller.hpp
@@ -4,7 +4,7 @@
 #include <unordered_set>
 #include <wiringPi.h>
 #include <modelec_interface/msg/solenoid.hpp>
-#include <modelec_interface/srv/new_solenoid.hpp>
+#include <modelec_interface/srv/add_solenoid.hpp>
 
 namespace Modelec {
     class SolenoidController : public rclcpp::Node {
@@ -15,10 +15,10 @@ namespace Modelec {
 
         rclcpp::Subscription<modelec_interface::msg::Solenoid>::SharedPtr solenoid_subscriber_;
 
-        rclcpp::Service<modelec_interface::srv::NewSolenoid>::SharedPtr add_solenoid_service_;
+        rclcpp::Service<modelec_interface::srv::AddSolenoid>::SharedPtr add_solenoid_service_;
 
         void activateSolenoid(const modelec_interface::msg::Solenoid::SharedPtr msg);
 
-        void addSolenoid(const std::shared_ptr<modelec_interface::srv::NewSolenoid::Request> request, std::shared_ptr<modelec_interface::srv::NewSolenoid::Response> response);
+        void addSolenoid(const std::shared_ptr<modelec_interface::srv::AddSolenoid::Request> request, std::shared_ptr<modelec_interface::srv::AddSolenoid::Response> response);
     };
 }
diff --git a/src/modelec/include/modelec/usb_aruido_logic_processor.hpp b/src/modelec/include/modelec/usb_aruido_logic_processor.hpp
deleted file mode 100644
index 370c48a..0000000
--- a/src/modelec/include/modelec/usb_aruido_logic_processor.hpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/string.hpp>
-#include <modelec/utils.hpp>
-#include <modelec_interface/msg/arduino_data.hpp>
-
-namespace Modelec {
-  class LogicProcessor : public rclcpp::Node {
-  public:
-    LogicProcessor();
-  private:
-    void processData(const std::string &data);
-
-    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
-    rclcpp::Publisher<modelec_interface::msg::ArduinoData>::SharedPtr publisher_;
-  };
-}
\ No newline at end of file
diff --git a/src/modelec/src/arm_controller.cpp b/src/modelec/src/arm_controller.cpp
index a42d169..4a1126a 100644
--- a/src/modelec/src/arm_controller.cpp
+++ b/src/modelec/src/arm_controller.cpp
@@ -4,7 +4,7 @@
 namespace Modelec {
     ArmController::ArmController() : Node("pince_controller") {
         this->servo_spublisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
-        client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
+        client_ = this->create_client<modelec_interface::srv::AddServoMotor>("add_servo");
 
         // ensure the server is up
         while (!client_->wait_for_service(std::chrono::seconds(1))) {
@@ -16,7 +16,7 @@ namespace Modelec {
         }
 
         for (int pin : {PINCE_1_PIN, PINCE_2_PIN, PINCE_3_PIN, ARM_1_PIN, ARM_2_PIN}) {
-            auto request = std::make_shared<modelec_interface::srv::NewServoMotor::Request>();
+            auto request = std::make_shared<modelec_interface::srv::AddServoMotor::Request>();
             request->pin = pin;
             auto res = client_->async_send_request(request);
             if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), res) == rclcpp::FutureReturnCode::SUCCESS) {
diff --git a/src/modelec/src/button_gpio_controller.cpp b/src/modelec/src/button_gpio_controller.cpp
index 56a4edf..b02272c 100644
--- a/src/modelec/src/button_gpio_controller.cpp
+++ b/src/modelec/src/button_gpio_controller.cpp
@@ -8,7 +8,7 @@ namespace Modelec {
         rclcpp::shutdown();
     }
 
-    new_button_service_ = create_service<modelec_interface::srv::NewButton>("new_button", std::bind(&ButtonGpioController::new_button, this, std::placeholders::_1, std::placeholders::_2));
+    new_button_service_ = create_service<modelec_interface::srv::AddButton>("add_button", std::bind(&ButtonGpioController::new_button, this, std::placeholders::_1, std::placeholders::_2));
     button_server_ = create_service<modelec_interface::srv::Button>("button", std::bind(&ButtonGpioController::check_button, this, std::placeholders::_1, std::placeholders::_2));
     timer_ = create_wall_timer(std::chrono::seconds(1), [this]() {
       for (auto& button : buttons_) {
@@ -20,7 +20,7 @@ namespace Modelec {
     });
   }
 
-  void ButtonGpioController::new_button(const std::shared_ptr<modelec_interface::srv::NewButton::Request> request, std::shared_ptr<modelec_interface::srv::NewButton::Response> response) {
+  void ButtonGpioController::new_button(const std::shared_ptr<modelec_interface::srv::AddButton::Request> request, std::shared_ptr<modelec_interface::srv::AddButton::Response> response) {
     if (buttons_.find(request->pin) != buttons_.end()) {
       response->success = false;
       return;
diff --git a/src/modelec/src/gamecontroller_listener.cpp b/src/modelec/src/gamecontroller_listener.cpp
index 05ab45d..74dfb5a 100644
--- a/src/modelec/src/gamecontroller_listener.cpp
+++ b/src/modelec/src/gamecontroller_listener.cpp
@@ -14,7 +14,7 @@ namespace Modelec {
 
           // Service to create a new serial listener
         auto request = std::make_shared<modelec_interface::srv::AddSerialListener::Request>();
-        request->name = "arduino";
+        request->name = "odometry";
         request->bauds = 115200;
         request->serial_port = "/dev/ttyACM0";
         auto client = this->create_client<modelec_interface::srv::AddSerialListener>("add_serial_listener");
@@ -27,7 +27,7 @@ namespace Modelec {
         }
         auto result = client->async_send_request(request);
         if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), result) == rclcpp::FutureReturnCode::SUCCESS) {
-            if (!result.get()->status) {
+            if (!result.get()->success) {
             RCLCPP_ERROR(this->get_logger(), "Failed to add serial listener");
             } else {
             RCLCPP_INFO(this->get_logger(), "Added serial listener");
@@ -36,13 +36,13 @@ namespace Modelec {
             RCLCPP_ERROR(this->get_logger(), "Service call failed");
         }
 
-        arduino_publisher_ = this->create_publisher<std_msgs::msg::String>(result.get()->subscriber, 10);
+        odometry_publisher_ = this->create_publisher<std_msgs::msg::String>(result.get()->subscriber, 10);
 
         clear_pca_publisher_ = this->create_publisher<std_msgs::msg::Empty>("clear_pca9685", 10);
 
         pca9685_publisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
 
-        client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
+        client_ = this->create_client<modelec_interface::srv::AddServoMotor>("add_servo");
 
         // ensure the server is up
         while (!client_->wait_for_service(std::chrono::seconds(1))) {
@@ -54,7 +54,7 @@ namespace Modelec {
         }
 
         for (auto servo : solarPannelServos) {
-            auto request = std::make_shared<modelec_interface::srv::NewServoMotor::Request>();
+            auto request = std::make_shared<modelec_interface::srv::AddServoMotor::Request>();
             request->pin = servo.pin;
             auto res = client_->async_send_request(request);
             if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), res) == rclcpp::FutureReturnCode::SUCCESS) {
@@ -156,7 +156,7 @@ namespace Modelec {
             }
             auto message = std_msgs::msg::String();
             message.data = "W";
-            arduino_publisher_->publish(message);
+            odometry_publisher_->publish(message);
             button_4_was_pressed = true;
         } else {
             button_4_was_pressed = false;
@@ -185,7 +185,7 @@ namespace Modelec {
 
         if (speed != last_speed) {
             message.data = "V " + std::to_string(speed);
-            arduino_publisher_->publish(message);
+            odometry_publisher_->publish(message);
             last_speed = speed;
         }
 
@@ -198,7 +198,7 @@ namespace Modelec {
 
         if (rotation != last_rotation) {
             message.data = "R " + std::to_string(rotation);
-            arduino_publisher_->publish(message);
+            odometry_publisher_->publish(message);
             last_rotation = rotation;
         }
 
diff --git a/src/modelec/src/move_controller.cpp b/src/modelec/src/move_controller.cpp
index 8ae3be9..e74dc0a 100644
--- a/src/modelec/src/move_controller.cpp
+++ b/src/modelec/src/move_controller.cpp
@@ -3,61 +3,20 @@
 namespace Modelec {
     MoveController::MoveController() : Node("move_controller")
     {
-        // Initialize the speed
-        speedX = 0.0;
-        speedZ = 0.0;
-
-        // Initialize the target position
-        x_target = 0.0;
-        y_target = 0.0;
-        z_target = 0.0;
-        theta_target = 0.0;
-
         // Initialize the publisher
-        publisher = this->create_publisher<std_msgs::msg::String>("robot_position", 10);
+        publisher_ = this->create_publisher<std_msgs::msg::String>("robot_position", 10);
 
-        // Initialize the subscriber
-        subscriber = this->create_subscription<std_msgs::msg::String>(
-            "move_target", 10,
-            std::bind(&MoveController::move_target_callback, this, std::placeholders::_1));
-
-        // Initialize the timer
-        timer = this->create_wall_timer(std::chrono::milliseconds(REFRESH_RATE), std::bind(&MoveController::move, this));
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(REFRESH_RATE),
+            std::bind(&MoveController::PublishPosition, this)
+        );
     }
 
-    void MoveController::move()
+    void MoveController::PublishPosition()
     {
-        // Move the robot
-        x += speedX;
-        z += speedZ;
-
-        // Check if the robot has reached the target position
-        if ((x >= x_target && x+speedX < x_target) || (x <= x_target && x+speedX > x_target))
-        {
-            speedX = 0.0;
-        }
-
-        if ((z >= z_target && z+speedZ < z_target) || (z <= z_target && z+speedZ > z_target))
-        {
-            speedZ = 0.0;
-        }
-
-        // Prepare and publish the message
-        auto msg = std_msgs::msg::String();
-        msg.data = std::to_string(x) + " " + std::to_string(y) + " " + std::to_string(z) + " " + std::to_string(theta);
-        publisher->publish(msg);
-    }
-
-    void MoveController::move_target_callback(const std_msgs::msg::String::SharedPtr msg)
-    {
-        // Parse the target position
-        std::istringstream iss(msg->data);
-        iss >> x_target >> y_target >> z_target >> theta_target;
-
-        // Calculate the speed
-        speedX = (x_target - x) / 100;
-        speedZ = (z_target - z) / 100;
-        RCLCPP_INFO(this->get_logger(), "Target position: %f %f %f %f", x_target, y_target, z_target, theta_target);
+        std_msgs::msg::String msg;
+        msg.data = std::to_string(x) + ";" + std::to_string(y) + ";" + std::to_string(theta);
+        publisher_->publish(msg);
     }
 }
 
diff --git a/src/modelec/src/multiple_serial_listener.cpp b/src/modelec/src/multiple_serial_listener.cpp
index 4f79f50..81a0ea3 100644
--- a/src/modelec/src/multiple_serial_listener.cpp
+++ b/src/modelec/src/multiple_serial_listener.cpp
@@ -24,7 +24,7 @@ namespace Modelec {
 
     void MultipleSerialListener::add_serial_listener(const std::shared_ptr<modelec_interface::srv::AddSerialListener::Request> request, std::shared_ptr<modelec_interface::srv::AddSerialListener::Response> response) {
         if (serial_listeners.find(request->name) != serial_listeners.end()) {
-            response->status = true;
+            response->success = true;
             response->publisher = serial_listeners[request->name]->publisher_->get_topic_name();
             response->subscriber = serial_listeners[request->name]->subscriber_->get_topic_name();
             return;
@@ -33,7 +33,7 @@ namespace Modelec {
         auto listener = std::make_shared<SerialListener>(request->name, request->bauds, request->serial_port, MAX_MESSAGE_LEN, io);
 
         if (!listener->IsOk()) {
-            response->status = false;
+            response->success = false;
             return;
         }
 
@@ -45,7 +45,7 @@ namespace Modelec {
 
         serial_listeners.insert({request->name, listener});
 
-        response->status = true;
+        response->success = true;
         response->publisher = listener->publisher_->get_topic_name();
         response->subscriber = listener->subscriber_->get_topic_name();
     }
diff --git a/src/modelec/src/usb_arduino_logic_processor.cpp b/src/modelec/src/odometry_logic_processor.cpp
similarity index 71%
rename from src/modelec/src/usb_arduino_logic_processor.cpp
rename to src/modelec/src/odometry_logic_processor.cpp
index 06ef102..584ac7e 100644
--- a/src/modelec/src/usb_arduino_logic_processor.cpp
+++ b/src/modelec/src/odometry_logic_processor.cpp
@@ -1,15 +1,13 @@
-#include "modelec/usb_aruido_logic_processor.hpp"
+#include "modelec/odometry_logic_processor.hpp"
 #include "modelec_interface/srv/add_serial_listener.hpp"
 #include <vector>
-#include <modelec_interface/srv/add_serial_listener.hpp>
 
-using namespace Modelec;
-
-LogicProcessor::LogicProcessor() : Node("usb_logic_processor") {
+Modelec::odometry_logic_processor::odometry_logic_processor() : Node("usb_logic_processor") {
+  publisher_odometry_ = this->create_publisher<modelec_interface::msg::OdometryData>("odomertry_data", 10);
 
   // Service to create a new serial listener
   auto request = std::make_shared<modelec_interface::srv::AddSerialListener::Request>();
-  request->name = "arduino";
+  request->name = "odometry";
   request->bauds = 115200;
   request->serial_port = "/dev/pts/6";
   auto client = this->create_client<modelec_interface::srv::AddSerialListener>("add_serial_listener");
@@ -23,7 +21,7 @@ LogicProcessor::LogicProcessor() : Node("usb_logic_processor") {
   auto result = client->async_send_request(request);
   if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), result) == rclcpp::FutureReturnCode::SUCCESS) {
     if (auto res = result.get()) {
-      if (res->status) {
+      if (res->success) {
 
         RCLCPP_INFO(this->get_logger(), "Publisher: %s", res->publisher.c_str());
         RCLCPP_INFO(this->get_logger(), "Subscriber: %s", res->subscriber.c_str());
@@ -33,7 +31,7 @@ LogicProcessor::LogicProcessor() : Node("usb_logic_processor") {
               processData(msg->data);
             });
       
-        publisher_ = this->create_publisher<modelec_interface::msg::ArduinoData>(res->subscriber, 10);  
+        publisher_to_odometry_ = this->create_publisher<std_msgs::msg::String>(res->subscriber, 10);
       } else {
         RCLCPP_ERROR(this->get_logger(), "Failed to add serial listener");
       }
@@ -45,16 +43,16 @@ LogicProcessor::LogicProcessor() : Node("usb_logic_processor") {
   }
 }
 
-void LogicProcessor::processData(const std::string &data) {
+void Modelec::odometry_logic_processor::processData(const std::string &data) {
   auto processed_data = "Processed: " + data;
   RCLCPP_INFO(this->get_logger(), "%s", processed_data.c_str());
-  auto msg = modelec_interface::msg::ArduinoData();
+  auto msg = modelec_interface::msg::OdometryData();
   std::vector<std::string> d = split(data, ':');
 
   if (d.size() == 3) {
-    msg.x = std::stof(d[0]);
-    msg.y = std::stof(d[1]);
-    msg.theta = std::stof(d[2]);
+    msg.x = std::stol(d[0]);
+    msg.y = std::stol(d[1]);
+    msg.theta = std::stol(d[2]);
   }
   else {
     msg.x = 0;
@@ -62,13 +60,13 @@ void LogicProcessor::processData(const std::string &data) {
     msg.theta = 0;
   }
 
-  publisher_->publish(msg);
+  publisher_odometry_->publish(msg);
 }
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<Modelec::LogicProcessor>());
+  rclcpp::spin(std::make_shared<Modelec::odometry_logic_processor>());
   rclcpp::shutdown();
   return 0;
 }
\ No newline at end of file
diff --git a/src/modelec/src/pca9685_controller.cpp b/src/modelec/src/pca9685_controller.cpp
index 5fe7bbd..a44af2b 100644
--- a/src/modelec/src/pca9685_controller.cpp
+++ b/src/modelec/src/pca9685_controller.cpp
@@ -32,9 +32,9 @@ namespace Modelec {
                 this->clearAllDevices();
             });
 
-        add_servo_service_ = this->create_service<modelec_interface::srv::NewServoMotor>(
-            "add_servo", [this](const modelec_interface::srv::NewServoMotor::Request::SharedPtr request,
-                                modelec_interface::srv::NewServoMotor::Response::SharedPtr response) {
+        add_servo_service_ = this->create_service<modelec_interface::srv::AddServoMotor>(
+            "add_servo", [this](const modelec_interface::srv::AddServoMotor::Request::SharedPtr request,
+                                modelec_interface::srv::AddServoMotor::Response::SharedPtr response) {
                 if (active_servos.find(request->pin) == active_servos.end()) {
                     active_servos.insert(request->pin);
                     response->success = true;
diff --git a/src/modelec/src/pcb_alim_interface.cpp b/src/modelec/src/pcb_alim_interface.cpp
index 3a18b8a..93ced1b 100644
--- a/src/modelec/src/pcb_alim_interface.cpp
+++ b/src/modelec/src/pcb_alim_interface.cpp
@@ -20,7 +20,7 @@ namespace Modelec
         }
         auto result = client->async_send_request(request);
         if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), result) == rclcpp::FutureReturnCode::SUCCESS) {
-            if (!result.get()->status) {
+            if (!result.get()->success) {
             RCLCPP_ERROR(this->get_logger(), "Failed to add serial listener");
             } else {
             RCLCPP_INFO(this->get_logger(), "Added serial listener");
diff --git a/src/modelec/src/solenoid_controller.cpp b/src/modelec/src/solenoid_controller.cpp
index 070d8a7..941bc99 100644
--- a/src/modelec/src/solenoid_controller.cpp
+++ b/src/modelec/src/solenoid_controller.cpp
@@ -8,7 +8,7 @@ namespace Modelec {
         solenoid_subscriber_ = this->create_subscription<modelec_interface::msg::Solenoid>(
             "solenoid", 10, std::bind(&SolenoidController::activateSolenoid, this, std::placeholders::_1));
 
-        add_solenoid_service_ = this->create_service<modelec_interface::srv::NewSolenoid>(
+        add_solenoid_service_ = this->create_service<modelec_interface::srv::AddSolenoid>(
             "add_solenoid", std::bind(&SolenoidController::addSolenoid, this, std::placeholders::_1, std::placeholders::_2));
     }
 
@@ -19,8 +19,8 @@ namespace Modelec {
         }
     }
 
-    void SolenoidController::addSolenoid(const std::shared_ptr<modelec_interface::srv::NewSolenoid::Request> request,
-                                         std::shared_ptr<modelec_interface::srv::NewSolenoid::Response> response) {
+    void SolenoidController::addSolenoid(const std::shared_ptr<modelec_interface::srv::AddSolenoid::Request> request,
+                                         std::shared_ptr<modelec_interface::srv::AddSolenoid::Response> response) {
         if (solenoid_pin_.find(request->pin) != solenoid_pin_.end()) {
             response->success = false;
             return;
diff --git a/src/modelec/src/tirette_controller.cpp b/src/modelec/src/tirette_controller.cpp
index f5cee83..64c903f 100644
--- a/src/modelec/src/tirette_controller.cpp
+++ b/src/modelec/src/tirette_controller.cpp
@@ -26,6 +26,7 @@ namespace Modelec {
 
         // Initialize the timer
         timer = this->create_wall_timer(std::chrono::milliseconds(REFRESH_RATE), [this]() {
+            // TODO : change that to publish in continue (so change the main program)
             bool lastState = tirette_state;
             tirette_state = digitalRead(GPIO_TIRETTE) == LOW;
 
diff --git a/src/modelec_interface/CMakeLists.txt b/src/modelec_interface/CMakeLists.txt
index de7a736..ad16230 100644
--- a/src/modelec_interface/CMakeLists.txt
+++ b/src/modelec_interface/CMakeLists.txt
@@ -11,16 +11,15 @@ find_package(std_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/ArduinoData.msg"
+  "msg/OdometryData.msg"
   "msg/PCA9685Servo.msg"
-  "msg/ServoMoteur.msg"
   "msg/ServoMode.msg"
   "msg/Solenoid.msg"
   "msg/Button.msg"
-  "srv/NewServoMotor.srv"
-  "srv/NewSolenoid.srv"
+  "srv/AddServoMotor.srv"
+  "srv/AddSolenoid.srv"
   "srv/Tirette.srv"
-  "srv/NewButton.srv"
+  "srv/AddButton.srv"
   "srv/Button.srv"
   "srv/AddSerialListener.srv"
   DEPENDENCIES std_msgs
diff --git a/src/modelec_interface/msg/Button.msg b/src/modelec_interface/msg/Button.msg
index 7bf5977..364946d 100644
--- a/src/modelec_interface/msg/Button.msg
+++ b/src/modelec_interface/msg/Button.msg
@@ -1,2 +1,2 @@
-int64 pin
+uint8 pin
 bool state
\ No newline at end of file
diff --git a/src/modelec_interface/msg/ArduinoData.msg b/src/modelec_interface/msg/OdometryData.msg
similarity index 100%
rename from src/modelec_interface/msg/ArduinoData.msg
rename to src/modelec_interface/msg/OdometryData.msg
diff --git a/src/modelec_interface/msg/ServoMoteur.msg b/src/modelec_interface/msg/ServoMoteur.msg
deleted file mode 100644
index 7bf5977..0000000
--- a/src/modelec_interface/msg/ServoMoteur.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-int64 pin
-bool state
\ No newline at end of file
diff --git a/src/modelec_interface/msg/Solenoid.msg b/src/modelec_interface/msg/Solenoid.msg
index 7bf5977..364946d 100644
--- a/src/modelec_interface/msg/Solenoid.msg
+++ b/src/modelec_interface/msg/Solenoid.msg
@@ -1,2 +1,2 @@
-int64 pin
+uint8 pin
 bool state
\ No newline at end of file
diff --git a/src/modelec_interface/srv/NewButton.srv b/src/modelec_interface/srv/AddButton.srv
similarity index 73%
rename from src/modelec_interface/srv/NewButton.srv
rename to src/modelec_interface/srv/AddButton.srv
index 89eacc7..3ff1634 100644
--- a/src/modelec_interface/srv/NewButton.srv
+++ b/src/modelec_interface/srv/AddButton.srv
@@ -1,4 +1,4 @@
-int64 pin
+uint8 pin
 string name
 ---
 bool success
\ No newline at end of file
diff --git a/src/modelec_interface/srv/AddSerialListener.srv b/src/modelec_interface/srv/AddSerialListener.srv
index bb5df8c..b163afc 100644
--- a/src/modelec_interface/srv/AddSerialListener.srv
+++ b/src/modelec_interface/srv/AddSerialListener.srv
@@ -2,6 +2,6 @@ string name
 string serial_port
 int64 bauds
 ---
-bool status
+bool success
 string publisher
 string subscriber
\ No newline at end of file
diff --git a/src/modelec_interface/srv/NewServoMotor.srv b/src/modelec_interface/srv/AddServoMotor.srv
similarity index 61%
rename from src/modelec_interface/srv/NewServoMotor.srv
rename to src/modelec_interface/srv/AddServoMotor.srv
index 347d6c6..1be8c90 100644
--- a/src/modelec_interface/srv/NewServoMotor.srv
+++ b/src/modelec_interface/srv/AddServoMotor.srv
@@ -1,3 +1,3 @@
-int64 pin
+uint8 pin
 ---
 bool success
\ No newline at end of file
diff --git a/src/modelec_interface/srv/NewSolenoid.srv b/src/modelec_interface/srv/AddSolenoid.srv
similarity index 61%
rename from src/modelec_interface/srv/NewSolenoid.srv
rename to src/modelec_interface/srv/AddSolenoid.srv
index 347d6c6..1be8c90 100644
--- a/src/modelec_interface/srv/NewSolenoid.srv
+++ b/src/modelec_interface/srv/AddSolenoid.srv
@@ -1,3 +1,3 @@
-int64 pin
+uint8 pin
 ---
 bool success
\ No newline at end of file
diff --git a/src/modelec_interface/srv/Button.srv b/src/modelec_interface/srv/Button.srv
index 691dc2e..c6539cb 100644
--- a/src/modelec_interface/srv/Button.srv
+++ b/src/modelec_interface/srv/Button.srv
@@ -1,4 +1,4 @@
-int64 pin
+uint8 pin
 string name
 ---
 bool status
\ No newline at end of file