diff --git a/simulated_pcb/action.py b/simulated_pcb/action.py
index 39b93b4..29bad6d 100644
--- a/simulated_pcb/action.py
+++ b/simulated_pcb/action.py
@@ -133,7 +133,7 @@ if __name__ == '__main__':
             sim.stop()
         print("Simulation stopped")
 
-# socat -d -d pty,raw,echo=0,link=/tmp/MARCEL_ACTION_SIM pty,raw,echo=0,link=/tmp/MARCEL_ACTION
-# python3 simulated_pcb/action.py --port /tmp/MARCEL_ACTION_SIM
-# socat -d -d pty,raw,echo=0,link=/tmp/ENEMY_ACTION_SIM pty,raw,echo=0,link=/tmp/ENEMY_ACTION
-# python3 simulated_pcb/action.py --port /tmp/ENEMY_ACTION_SIM
\ No newline at end of file
+# socat -d -d pty,raw,echo=0,link=/tmp/ACTION_SIM pty,raw,echo=0,link=/tmp/ACTION_USB
+# python3 simulated_pcb/action.py --port /tmp/ACTION_SIM
+# socat -d -d pty,raw,echo=0,link=/tmp/ODO_SIM pty,raw,echo=0,link=/tmp/ODO_USB
+# python3 simulated_pcb/action.py --port /tmp/ODO_SIM
diff --git a/src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp b/src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp
index a0d8893..8e496c8 100644
--- a/src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp
+++ b/src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp
@@ -37,9 +37,6 @@ namespace Modelec
     public:
         PCBOdoInterface();
 
-        rclcpp::CallbackGroup::SharedPtr pcb_callback_group_;
-        std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> pcb_executor_;
-        std::thread pcb_executor_thread_;
         ~PCBOdoInterface() override;
 
         struct OdometryData
@@ -57,9 +54,6 @@ namespace Modelec
         };
 
     private:
-        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pcb_publisher_;
-        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr pcb_subscriber_;
-
         void read(const std::string& msg) override;
 
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_pos_publisher_;
diff --git a/src/modelec_com/src/pcb_odo_interface.new.cpp b/src/modelec_com/src/pcb_odo_interface.new.cpp
index 4c0f792..451cf95 100644
--- a/src/modelec_com/src/pcb_odo_interface.new.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.new.cpp
@@ -153,20 +153,11 @@ namespace Modelec
     PCBOdoInterface::~PCBOdoInterface()
     {
         SetStart(false);
-
-        if (pcb_executor_)
-        {
-            pcb_executor_->cancel();
-        }
-        if (pcb_executor_thread_.joinable())
-        {
-            pcb_executor_thread_.join();
-        }
     }
 
     void PCBOdoInterface::read(const std::string& msg)
     {
-        RCLCPP_INFO(this->get_logger(), "Received from PCB: %s", msg.c_str());
+        RCLCPP_DEBUG(this->get_logger(), "Received from PCB: %s", msg.c_str());
         std::vector<std::string> tokens = split(trim(msg), ';');
         if (tokens.size() < 2)
         {
@@ -300,12 +291,10 @@ namespace Modelec
 
     void PCBOdoInterface::SendToPCB(const std::string& data)
     {
-        if (pcb_publisher_)
+        if (IsOk())
         {
             RCLCPP_DEBUG(this->get_logger(), "Sending to PCB: %s", data.c_str());
-            auto message = std_msgs::msg::String();
-            message.data = data;
-            pcb_publisher_->publish(message);
+            this->write(data);
         }
     }
 
diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index feaee78..8022516 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -109,7 +109,7 @@ def generate_launch_description():
                     executable='pcb_action_interface',
                     name='pcb_action_interface',
                     parameters=[{
-                        'serial_port': "/tmp/USB_ACTION",
+                        'serial_port': "/dev/USB_ACTION",
                         'baudrate': 115200,
                         'name': "pcb_action",
                     }]