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- "nix 0.26.2",
- "once_cell",
- "ordered-stream",
- "rand",
- "serde",
- "serde-xml-rs 0.4.1",
- "serde_repr",
- "sha1",
- "static_assertions",
- "tracing",
- "uds_windows",
- "winapi",
- "zbus_macros",
- "zbus_names",
- "zvariant",
-]
-
-[[package]]
-name = "zbus_macros"
-version = "3.11.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9264b3a1bcf5503d4e0348b6e7efe1da58d4f92a913c15ed9e63b52de85faaa1"
-dependencies = [
- "proc-macro-crate",
- "proc-macro2",
- "quote",
- "regex 1.7.1",
- "syn",
- "zvariant_utils",
-]
-
-[[package]]
-name = "zbus_names"
-version = "2.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f34f314916bd89bdb9934154627fab152f4f28acdda03e7c4c68181b214fe7e3"
-dependencies = [
- "serde",
- "static_assertions",
- "zvariant",
-]
-
-[[package]]
-name = "zvariant"
-version = "3.12.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46fe4914a985446d6fd287019b5fceccce38303d71407d9e6e711d44954a05d8"
-dependencies = [
- "byteorder",
- "enumflags2",
- "libc",
- "serde",
- "static_assertions",
- "zvariant_derive",
-]
-
-[[package]]
-name = "zvariant_derive"
-version = "3.12.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34c20260af4b28b3275d6676c7e2a6be0d4332e8e0aba4616d34007fd84e462a"
-dependencies = [
- "proc-macro-crate",
- "proc-macro2",
- "quote",
- "syn",
- "zvariant_utils",
-]
-
-[[package]]
-name = "zvariant_utils"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53b22993dbc4d128a17a3b6c92f1c63872dd67198537ee728d8b5d7c40640a8b"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
diff --git a/ci_test.sh b/ci_test.sh
index e030875..6683800 100755
--- a/ci_test.sh
+++ b/ci_test.sh
@@ -2,8 +2,7 @@
 cargo build
 roslaunch launch/test_launch.launch &
 sleep 2
-cargo run --example amiga-mock-server &
-cargo run --example amiga_cmd_vel_publisher &
-cargo run -- --test-mode &
-cargo run --example amiga_vel_subscriber
+cargo run --example amiga-mock-server -- --port 50050 &
+cargo run -- --test-mode --port 50050 &
+cargo run --example test_amiga_vel_publisher_subscriber
 echo DONE
diff --git a/examples/amiga-mock-server.rs b/examples/amiga-mock-server.rs
index 6eaca37..d5cdc80 100644
--- a/examples/amiga-mock-server.rs
+++ b/examples/amiga-mock-server.rs
@@ -1,4 +1,3 @@
-use futures::Stream;
 use amiga_ros_bridge::grpc::farm_ng::canbus::proto::canbus_service_server::{
     CanbusService, CanbusServiceServer,
 };
@@ -8,6 +7,8 @@ use amiga_ros_bridge::grpc::farm_ng::canbus::proto::{
     StreamMotorStatesRequest, StreamVehicleTwistStateReply, StreamVehicleTwistStateRequest,
     Twist2d,
 };
+use clap::Parser;
+use futures::Stream;
 use std::pin::Pin;
 use std::sync::{Arc, Mutex};
 use tokio::sync::mpsc;
@@ -148,8 +149,6 @@ impl CanbusService for AmigaMockService {
     }
 }
 
-use clap::Parser;
-
 #[derive(Parser, Debug)]
 struct Args {
     #[arg(short, long, default_value_t = 50060)]
@@ -172,6 +171,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
     let server = AmigaMockService {
         twist_state: Arc::new(Mutex::new(Twist2d::default())),
     };
+    info!("Trying to start server.");
+
     Server::builder()
         .add_service(CanbusServiceServer::new(server))
         .serve(address.parse()?)
diff --git a/examples/amiga_vel_subscriber.rs b/examples/amiga_vel_subscriber.rs
index cbce8c8..4bd8c8b 100644
--- a/examples/amiga_vel_subscriber.rs
+++ b/examples/amiga_vel_subscriber.rs
@@ -1,17 +1,25 @@
 use tracing::{debug, info, Level};
 use tracing_subscriber::FmtSubscriber;
+
 fn main() {
-    let subscriber = FmtSubscriber::builder()
-        .with_max_level(Level::DEBUG)
-        .finish();
-    tracing::subscriber::set_global_default(subscriber).expect("setting default subscriber failed");
+    tracing::subscriber::set_global_default(
+        FmtSubscriber::builder()
+            .with_max_level(Level::DEBUG)
+            .finish(),
+    )
+    .expect("setting default subscriber failed");
 
     // Initialize node
-    rosrust::init("amiga_vel_subcriber");
+    rosrust::init("amiga_vel_subscriber");
+
+    // Create object that maintains 20Hz between sleep requests
+    let rate = rosrust::rate(20.0);
+
     let arc_count = std::sync::Arc::new(std::sync::Mutex::<u32>::new(0));
     let arc_count_clone = arc_count.clone();
+
     let _subscriber_raii = rosrust::subscribe(
-        "amiga/vel",
+        "/amiga/vel",
         100,
         move |v: rosrust_msg::geometry_msgs::TwistStamped| {
             debug!("Received: {:?}", v);
@@ -21,13 +29,15 @@ fn main() {
     )
     .unwrap();
     info!("amiga_vel_subscriber launched");
-    let rate = rosrust::rate(0.0);
 
     // Block the thread until a count=10
 
-    loop {
+    //loop {
+    while rosrust::is_ok() {
+        // Sleep to maintain 20Hz rate
         rate.sleep();
-        if *arc_count.lock().unwrap() == 10 {
+
+        if *arc_count.lock().unwrap() > 10 {
             break;
         }
     }
diff --git a/examples/test_amiga_vel_publisher_subscriber.rs b/examples/test_amiga_vel_publisher_subscriber.rs
new file mode 100644
index 0000000..9e0aaa1
--- /dev/null
+++ b/examples/test_amiga_vel_publisher_subscriber.rs
@@ -0,0 +1,66 @@
+use tracing::{debug, info, Level};
+use tracing_subscriber::FmtSubscriber;
+
+fn main() {
+    tracing::subscriber::set_global_default(
+        FmtSubscriber::builder()
+            .with_max_level(Level::DEBUG)
+            .finish(),
+    )
+    .expect("setting default subscriber failed");
+
+    // Initialize node
+    rosrust::init("amiga_vel_subscriber");
+
+    // Create object that maintains 20Hz between sleep requests
+    let rate = rosrust::rate(20.0);
+
+    let arc_count = std::sync::Arc::new(std::sync::Mutex::<u32>::new(0));
+    let arc_count_clone = arc_count.clone();
+
+    let _subscriber_raii = rosrust::subscribe(
+        "/amiga/vel",
+        100,
+        move |v: rosrust_msg::geometry_msgs::TwistStamped| {
+            debug!("Received: {:?}", v);
+            let mut data = arc_count_clone.lock().unwrap();
+            *data += 1;
+        },
+    )
+    .unwrap();
+    info!("amiga_vel_subscriber launched");
+    let cmd_vel_pub = rosrust::publish("/amiga/cmd_vel", 2).unwrap();
+
+    let mut pub_num = 0;
+    while rosrust::is_ok() {
+        if pub_num < 10 {
+            // Create string message
+            let msg = rosrust_msg::geometry_msgs::Twist {
+                linear: rosrust_msg::geometry_msgs::Vector3 {
+                    x: pub_num as f64 * 0.001,
+                    y: 0.0,
+                    z: 0.0,
+                },
+                angular: rosrust_msg::geometry_msgs::Vector3 {
+                    x: 0.0,
+                    y: 0.0,
+                    z: 0.0,
+                },
+            };
+
+            // Send string message to topic via publisher
+            cmd_vel_pub.send(msg).unwrap();
+            pub_num += 1;
+        }
+
+        // Sleep to maintain 20Hz rate
+        rate.sleep();
+        let c = *arc_count.lock().unwrap();
+        info!("amiga_vel_subscriber got: {}", c);
+
+        if *arc_count.lock().unwrap() > 5 {
+            break;
+        }
+    }
+    info!("amiga_vel_subscriber done");
+}
diff --git a/farm-ng-amiga b/farm-ng-amiga
index 6e8f6d8..92ff032 160000
--- a/farm-ng-amiga
+++ b/farm-ng-amiga
@@ -1 +1 @@
-Subproject commit 6e8f6d85e1869385388a4221c90499173b4530de
+Subproject commit 92ff0322c443e5764b9795c28a120ae60c2d16b1
diff --git a/src/lib.rs b/src/lib.rs
index 773d491..170def5 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1 +1,2 @@
+#![allow(non_camel_case_types)]
 pub mod grpc;
diff --git a/src/main.rs b/src/main.rs
index 3fcb296..33e0de5 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,10 +1,10 @@
-use clap::Parser;
-use futures::stream::Stream;
-use futures::StreamExt;
 use amiga_ros_bridge::grpc::farm_ng::canbus::proto::canbus_service_client::CanbusServiceClient;
 use amiga_ros_bridge::grpc::farm_ng::canbus::proto::{
     SendVehicleTwistCommandRequest, StreamVehicleTwistStateRequest, Twist2d,
 };
+use clap::Parser;
+use futures::stream::Stream;
+use futures::StreamExt;
 use rosrust::Time;
 use tokio::sync::mpsc;
 use tonic::Status;
@@ -117,6 +117,10 @@ impl AmgigRosBridgeGrpcClient {
                 // republish messages to ROS
                 state_pub.send(msg).unwrap();
                 count += 1; // increment message counter
+                if is_test_mode && count > 5000 {
+                    info!("Test mode: shutting down command stream");
+                    break;
+                }
             }
         });
 
@@ -135,8 +139,8 @@ impl AmgigRosBridgeGrpcClient {
             let _ = stream.next().await;
 
             count += 1;
-            if is_test_mode && count > 10 {
-                info!("Test mode: shutting down");
+            if is_test_mode && count > 5000 {
+                info!("Test mode: shutting down state stream");
                 break;
             }
         }
@@ -149,7 +153,7 @@ impl AmgigRosBridgeGrpcClient {
 
 #[derive(Parser, Debug)]
 struct Args {
-    #[arg(short = 'H', long = "host", default_value_t = String::from("localhost"))]
+    #[arg(short = 'H', long = "host", default_value_t = String::from("[::1]"))]
     host: String,
     #[arg(short, long, default_value_t = 50060)]
     port: u32,
@@ -157,11 +161,12 @@ struct Args {
     test_mode: bool,
 }
 
-#[tokio::main]
-async fn main() {
+//#[tokio::main]
+//async fn main() {
+fn main() {
     // setting console log level
     let subscriber = FmtSubscriber::builder()
-        .with_max_level(Level::DEBUG)
+        .with_max_level(Level::INFO)
         .finish();
     tracing::subscriber::set_global_default(subscriber).expect("setting default subscriber failed");
 
@@ -194,7 +199,7 @@ async fn main() {
     debug!("Connecting to gRPC server at {}", address);
 
     // the gRPC client takes the receiver rx.
-    let _ = runtime.spawn(async move {
+    let handle = runtime.spawn(async move {
         AmgigRosBridgeGrpcClient::connect(address)
             .await
             .unwrap()
@@ -225,16 +230,15 @@ async fn main() {
     .unwrap();
     debug!("Subscriber thread started to cmd_vel");
 
-    // runtime.block_on(handle).unwrap();
+    runtime.block_on(handle).unwrap();
 
     // NOTE: this will shutdown the runtime when the user presses Ctrl-C
-    match tokio::signal::ctrl_c().await {
-        Ok(_) => {
-            info!("Ctrl-C received, shutting down");
-        }
-        Err(e) => {
-            eprintln!("Error: {}", e);
-        }
-    }
-
+    //match tokio::signal::ctrl_c().await {
+    //    Ok(_) => {
+    //        info!("Ctrl-C received, shutting down");
+    //    }
+    //    Err(e) => {
+    //        eprintln!("Error: {}", e);
+    //    }
+    //}
 }