diff --git a/.gitignore b/.gitignore
index 99193a0..c38f655 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,7 +32,6 @@ devel/
 carsimplesimulink/
 AV-T_bag/
 odometer/
-skynetmini/
 subtractor/
 src/AV-T_bag
 src/carsimplesimulink
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b20cbfd..53d6854 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.9)
-project(skynetmini_controller2)
+project(skynetmini)
 set(CMAKE_VERBOSE_MAKEFILE ON)
 # Set CMAKE_BUILD_TYPE
 set(CMAKE_BUILD_TYPE Release)
diff --git a/launch/skynetminihwil.launch b/launch/skynetminihwil.launch
new file mode 100644
index 0000000..e536698
--- /dev/null
+++ b/launch/skynetminihwil.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- ~~~~~~~~~~~~~~~~~~~~~~~~ -->
+  <!-- Controller Launches. profproject control and CBF -->
+  <node pkg="skynetmini" type="skynetmini_controller2" name="skynetmini_controller2_node" output="screen">
+		<remap from="/cmd_accel" to="/cmd_accel_pre"/>
+	</node>
+<!-- CBF params -->
+  <arg name="description" default="skynetmini_controller2"/>
+
+	<arg name="margin" default="30.0"/>
+	<arg name="use_margin" default="false"/>
+	<arg name="hwil" default="true"/>
+	<arg name="readonly" default="false"/>
+	<arg name="vsl_hwil_test" default="false"/>
+<!-- CBF node -->
+  <node pkg="cbf" type="cbf" name="cbf" if="$(eval not readonly and hwil)">
+	</node>
+  <!-- ~~~~~~~~~~~~~~~~~~~~~~~~ -->
+  <!-- ~~~~~~~~~~~~~~~~~~~~~~~~ -->
+  <!-- CAN_to_ROS launches, for vehicle interface, subs, rosbag record and safety_checks(?) -->
+<node pkg="can_to_ros" type="vehicle_interface" name="vehicle_interface" output="screen" respawn="true" respawn_delay="2" />
+  <node pkg="can_to_ros" type ="subs" name="subs" output="screen" if="$(arg hwil)">
+	</node>
+  <include file="$(find can_to_ros)launch/safety_checks.launch" />
+<!-- recording the ros bag -->
+ <node pkg="can_to_ros" type ="rosbag_record.sh" name="bashscript2" output="screen" args="$(arg description) $(arg hwil)" />
+
+  <!-- ~~~~~~~~~~~~~~~~~~~~~~~~ -->
+
+
+</launch>
\ No newline at end of file
diff --git a/libpanda-apps.yaml b/libpanda-apps.yaml
new file mode 100644
index 0000000..59e160c
--- /dev/null
+++ b/libpanda-apps.yaml
@@ -0,0 +1,20 @@
+apps:
+  - name: skynetmini
+    properties:
+      - owns_panda: true
+    dependencies:
+      - apt: python3-pandas
+      - pip3: cantools
+      - pip3: shapely
+    ros_repositories:
+        - owner: jmscslgroup
+          repo: can_to_ros
+        - owner: jmscslgroup
+          repo: cbf
+          branch_or_hash: original_CBF_implementation_2021
+        - owner: jmscslgroup
+          repo: velocity_controller
+        - owner: jmscslgroup
+          repo: setpointreader
+        - owner: jmscslgroup
+          repo: skynetmini
diff --git a/package.xml b/package.xml
index 2833260..78ccb04 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>skynetmini_controller2</name>
+  <name>skynetmini</name>
   <version>1.0.0</version>
   <description>TODO</description>
   <maintainer email="rosuser@test.com">ROS User</maintainer>
diff --git a/skynetmini/description.txt b/skynetmini/description.txt
new file mode 100644
index 0000000..23f8c1d
--- /dev/null
+++ b/skynetmini/description.txt
@@ -0,0 +1 @@
+This project explores the potential of Adaptive Cruise Control (ACC) systems to enhance fuel efficiency in vehicles while ensuring effective and safe car-following behavior.
diff --git a/skynetmini/install.sh b/skynetmini/install.sh
new file mode 100644
index 0000000..7fd2fb4
--- /dev/null
+++ b/skynetmini/install.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+echo "=========================="
+echo "Installing App skynetmini"
+
+# Here is where we perform installation of scripts, services, etc.
+echo " - Installing ROS packages for skynetmini..."
+
+LIBPANDA_SRC=$(cat /etc/libpanda.d/libpanda_src_dir)
+LIBPANDA_USER=$(cat /etc/libpanda.d/libpanda_usr)
+LAUNCH_FILE=skynetminihwil.launch
+
+source /home/$LIBPANDA_USER/.bashrc
+
+# if [ -d /home/$LIBPANDA_USER/strym ]; then
+#     pushd /home/$LIBPANDA_USER/strym
+#     git pull
+# else
+#     pushd /home/$LIBPANDA_USER/
+#     git clone https://github.com/jmscslgroup/strym
+# fi
+# popd
+
+runuser -l $LIBPANDA_USER -c /etc/libpanda.d/apps/skynetmini/installRosPackages.sh
+
+echo "Installing {APP_NAME_PRETTY}..."
+# runuser -l $LIBPANDA_USER -c /etc/libpanda.d/apps/vsl/installMidVslController.sh
+pushd /home/$LIBPANDA_USER/catkin_ws
+runuser -l $LIBPANDA_USER -c 'source /opt/ros/noetic/setup.bash && cd catkin_ws && catkin_make'
+source devel/setup.sh
+rosrun robot_upstart install skynetmini/launch/${LAUNCH_FILE} --user root
+
+echo "Enabling can_to_ros startup script"
+sudo systemctl daemon-reload
+sudo systemctl enable skynetmini
+popd
+echo "@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@"
diff --git a/skynetmini/installController.sh b/skynetmini/installController.sh
new file mode 100644
index 0000000..ed70de1
--- /dev/null
+++ b/skynetmini/installController.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# Author: Matt Nice,Matt Bunting
+
+LAUNCH_FILE=skynetminihwil.launch
+
+echo "----------------------------"
+if [[ $EUID == 0 ]];
+  then echo "Do NOT run this script as root"
+  exit
+fi
+
+source ~/.bashrc
+
+pushd ~/catkin_ws
+source devel/setup.sh
+
+# rosrun robot_upstart install can_to_ros/launch/${LAUNCH_FILE} --user root
+rosrun robot_upstart install ${LAUNCH_FILE} --user root
+
+echo "Enabling can_to_ros startup script"
+sudo systemctl daemon-reload
+sudo systemctl enable skynetmini
+popd
+
+echo "----------------------------"
diff --git a/skynetmini/installRosPackages.sh b/skynetmini/installRosPackages.sh
new file mode 100644
index 0000000..5a21fda
--- /dev/null
+++ b/skynetmini/installRosPackages.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+# Author: Matt Bunting, Matt Nice
+
+echo "----------------------------"
+if [[ $EUID == 0 ]];
+  then echo "Do NOT run this script as root"
+  exit
+fi
+
+echo "Installing/Updating {APP_NAME_PRETTY} packages"
+
+source ~/.bashrc
+
+LIBPANDA_SRC=$(cat /etc/libpanda.d/libpanda_src_dir)
+
+
+cd ~
+if [ ! -d catkin_ws/src ]; then
+    mkdir -p catkin_ws/src
+fi
+
+cd ~/catkin_ws
+source /opt/ros/noetic/setup.bash
+
+echo "Regenerating CanToRos"
+cd ~/catkin_ws/src/can_to_ros/scripts
+echo y | ./regenerateCanToRos.sh
+
+
+# Build:
+source ~/catkin_ws/devel/setup.sh
+cd ~/catkin_ws
+catkin_make
+
+
+echo "Enabling can_to_ros startup script"
+sudo systemctl daemon-reload
+sudo systemctl enable skynetmini
+
+
+
+echo "----------------------------"
diff --git a/skynetmini/service b/skynetmini/service
new file mode 100644
index 0000000..b3dab9e
--- /dev/null
+++ b/skynetmini/service
@@ -0,0 +1 @@
+skynetmini
diff --git a/skynetmini/start.sh b/skynetmini/start.sh
new file mode 100644
index 0000000..93705ea
--- /dev/null
+++ b/skynetmini/start.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+echo "=========================="
+echo "Starting App skynetmini for {APP_NAME_PRETTY}"
+
+
+systemctl start skynetmini
+systemctl start rosnodeChecker
diff --git a/skynetmini/stop.sh b/skynetmini/stop.sh
new file mode 100644
index 0000000..9e01d61
--- /dev/null
+++ b/skynetmini/stop.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+echo "=========================="
+echo "Stopping App skynetmini"
+
+systemctl stop rosnodeChecker
+systemctl stop skynetmini
diff --git a/skynetmini/uninstall.sh b/skynetmini/uninstall.sh
new file mode 100644
index 0000000..63241b1
--- /dev/null
+++ b/skynetmini/uninstall.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+echo "=========================="
+echo "Removing App skynetmini"
+
+
+LIBPANDA_USER=$(cat /etc/libpanda.d/libpanda_usr)
+
+# Disable the installed services:
+echo " - Disabling startup scripts..."
+systemctl disable skynetmini
+
+
+# Here is where we remove scripts, services, etc.
+echo " - Removing scripts..."
+cd
+if [ "x"`systemctl list-units | grep -c skynetmini.service` = "x1" ]; then
+    echo "Uninstalling skynetmini.service"
+
+    source /home/$LIBPANDA_USER/catkin_ws/devel/setup.bash
+    rosrun robot_upstart uninstall skynetmini
+fi
+
+systemctl daemon-reload # if needed