diff --git a/modules/catkin_ws/src/autonom_a/CMakeLists.txt b/modules/catkin_ws/src/autonom_a/CMakeLists.txt
index 3c4eae4cab3ec65c8120dec62ff7d2afa84e46e7..c31b5ab88f1ba78a156110a646f1397be95e6cd4 100644
--- a/modules/catkin_ws/src/autonom_a/CMakeLists.txt
+++ b/modules/catkin_ws/src/autonom_a/CMakeLists.txt
@@ -32,8 +32,8 @@ catkin_package(
 
 include_directories(
   include
-  include/testnodelets
   include/testnodelets2
+  include/testnodelets
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -61,8 +61,8 @@ install(
 
 install(
   DIRECTORY
-    include/testnodelets/
     include/testnodelets2/
+    include/testnodelets/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 20b046a7e23e87ff158a385c59f95c36ea06e87c..8aec39519a0f1d3a27ba60e1da5f2265528f1aef 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -14,6 +14,14 @@ find_package(Boost REQUIRED COMPONENTS system)
 
 add_message_files(
   FILES
+  camDataMsg.msg
+  ccDataMsg.msg
+  environmentDataMsg.msg
+  logEnabledMsg.msg
+  logStringMsg.msg
+  rcEnabledMsg.msg
+  stmDataMsg.msg
+  ussDataMsg.msg
 )
 generate_messages(
   DEPENDENCIES
@@ -22,7 +30,7 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include
-  #LIBRARIES nodelet_talker
+  LIBRARIES main_node
   CATKIN_DEPENDS roscpp std_msgs nodelet rospy #message_runtime
 )
 
@@ -31,13 +39,13 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-#add_library(nodelet_talker src/testnodelets/NodeletTalker.cpp)
-#add_dependencies(nodelet_talker ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
-#target_link_libraries(nodelet_talker ${catkin_LIBRARIES})
+add_library(main_node src/mainNode/mainNode.cpp)
+add_dependencies(main_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(main_node ${catkin_LIBRARIES})
 
 install(
   TARGETS
-    #nodelet_talker
+    main_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -45,7 +53,7 @@ install(
 
 install(
   DIRECTORY
-    #include/testnodelets/
+    include/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
diff --git a/modules/catkin_ws/src/car/include/mainNode/mainNode.h b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
new file mode 100644
index 0000000000000000000000000000000000000000..0d497c2877e65f3d87e5bce5cc6dc485f90de027
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
@@ -0,0 +1,17 @@
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+namespace car
+{
+	class MainNode : public nodelet::Nodelet
+	{
+		public:
+			virtual void onInit();
+			MainNode(ros::NodeHandle &nh, std::string &name);
+			MainNode();
+			~MainNode();
+		private:
+			ros::NodeHandle nh_;
+			std::string name_;
+	};
+}
diff --git a/modules/catkin_ws/src/car/msg/enableLogging.msg b/modules/catkin_ws/src/car/msg/camDataMsg.msg
similarity index 100%
rename from modules/catkin_ws/src/car/msg/enableLogging.msg
rename to modules/catkin_ws/src/car/msg/camDataMsg.msg
diff --git a/modules/catkin_ws/src/car/msg/ccDataMsg.msg b/modules/catkin_ws/src/car/msg/ccDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..81eb829345ac92f4a37e5ab2ab6e5a3e84d8d47e
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/ccDataMsg.msg
@@ -0,0 +1 @@
+float32 speed
diff --git a/modules/catkin_ws/src/car/msg/environmentDataMsg.msg b/modules/catkin_ws/src/car/msg/environmentDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..8fb4625f1e311645dd1abfccfd3bf23721df5dc6
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/environmentDataMsg.msg
@@ -0,0 +1,2 @@
+float32 distance
+float32 prevSpeed
diff --git a/modules/catkin_ws/src/car/msg/logEnabledMsg.msg b/modules/catkin_ws/src/car/msg/logEnabledMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..c8151d3f6beab63ac02322ea099f166c034ae46f
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/logEnabledMsg.msg
@@ -0,0 +1 @@
+bool enabled
diff --git a/modules/catkin_ws/src/car/msg/logStringMsg.msg b/modules/catkin_ws/src/car/msg/logStringMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..37f691ff05aa392a7d9ef31ab48773e332784619
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/logStringMsg.msg
@@ -0,0 +1 @@
+string logMsg
diff --git a/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg b/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..c8151d3f6beab63ac02322ea099f166c034ae46f
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg
@@ -0,0 +1 @@
+bool enabled
diff --git a/modules/catkin_ws/src/car/msg/stmDataMsg.msg b/modules/catkin_ws/src/car/msg/stmDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..0f41f8e38986619f2013aa86e0cd292ca667afc4
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/stmDataMsg.msg
@@ -0,0 +1,2 @@
+float32 speed
+float32 angle
diff --git a/modules/catkin_ws/src/car/msg/ussDataMsg.msg b/modules/catkin_ws/src/car/msg/ussDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..5cd4939c331527d5422b2fedc60172f7fde80262
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/ussDataMsg.msg
@@ -0,0 +1 @@
+float32 distance
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index bc04715781387c1bfb1358845a43f07cf3f7f714..fa3511274563bc383bbaf7031a25532c64779b02 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -1,11 +1,15 @@
-<!--
-<library path="lib/libnodelet_talker">
-  <class name="autonom_a/nodelet_talker"
-	 type="autonom_a::NodeletTalker"
+<library path="lib/libmain_node">
+  <class name="car/main_node"
+	 type="car::mainNode"
 	 base_class_type="nodelet::Nodelet">
   <description>
-  This is my.
+  This node holds the threads:
+    - C2C
+    - PC2C
+    - LOG
+    - PLC
+    - EGM
+    - CC
   </description>
   </class>
 </library>
--->
diff --git a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..265ad0c0b5dafdb172acaf600dd324fa256f837f
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
@@ -0,0 +1,19 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "mainNode/mainNode.h"
+
+PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
+
+namespace car
+{
+	MainNode::MainNode(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
+	MainNode::MainNode() {}
+	MainNode::~MainNode() {}
+	void MainNode::onInit()
+	{
+		NODELET_INFO("MainNode::onInit -- START");
+    // CODE GOES HERE
+		NODELET_INFO("MainNode::onInit -- END");
+	}
+}