diff --git a/modules/catkin_ws/src/PC/CMakeLists.txt b/modules/catkin_ws/src/PC/CMakeLists.txt
index 226a1708bbe4590a0718d7ad03df250cde025d8d..89ca374ebd39af4feccb61127d7c0f8850cea9ea 100644
--- a/modules/catkin_ws/src/PC/CMakeLists.txt
+++ b/modules/catkin_ws/src/PC/CMakeLists.txt
@@ -1,9 +1,18 @@
 cmake_minimum_required(VERSION 3.9)
 project(PC)
 
+set(CMAKE_CXX_FLAGS "-pthread")
+
 set(CMAKE_CXX_STANDARD 14)
 
+set(LOCAL_INSTALL_DIR ${CMAKE_CURRENT_LIST_DIR}/../../install)
+
+set(CMAKE_PREFIX_PATH "${LOCAL_INSTALL_DIR}")
+
 find_package(Boost REQUIRED COMPONENTS regex system)
+find_package(NetworkingLib REQUIRED)
+find_package(PlatoonProtocolLib REQUIRED)
+find_package(PC2CarLib REQUIRED)
 
 set(SOURCE_FILES
         src/main.cpp
@@ -12,4 +21,9 @@ set(SOURCE_FILES
 
 add_executable(PC ${SOURCE_FILES})
 
-target_link_libraries(PC ${Boost_LIBRARIES})
\ No newline at end of file
+target_link_libraries(PC ${Boost_LIBRARIES})
+
+target_include_directories(PC PUBLIC ${PC2CarLib_INCLUDE_DIRS})
+target_link_libraries(PC NetworkingLib)
+target_link_libraries(PC PlatoonProtocolLib)
+target_link_libraries(PC PC2CarLib)
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PC/src/main.cpp b/modules/catkin_ws/src/PC/src/main.cpp
index 3594c9a7b8e3ecc385ca834fe8df14ffc690aea2..c46bd101cb8839b84ad1de755df571f745b55a32 100644
--- a/modules/catkin_ws/src/PC/src/main.cpp
+++ b/modules/catkin_ws/src/PC/src/main.cpp
@@ -1,8 +1,24 @@
 #include "../include/Logging.h"
+#include "PC2CarLib/CommandSender.h"
 
 int main()
 {
+    networking::Networking net;
     pc::Logging logging{10207};
+    pc2car::CommandSender commandSender{net, "127.0.0.1"};
+
+    std::thread commandThread{
+        [&commandSender]
+        {
+            float speed = 0.0f;
+            while (true)
+            {
+                using namespace std::chrono_literals;
+                commandSender.setPlatoonSpeed(speed++);
+                std::this_thread::sleep_for(1s);
+            }
+        }};
+
     logging.start();
     return 0;
 }
\ No newline at end of file