diff --git a/mission/system_monitor/CMakeLists.txt b/mission/system_monitor/CMakeLists.txt
index 0290a85f..d5dd4386 100644
--- a/mission/system_monitor/CMakeLists.txt
+++ b/mission/system_monitor/CMakeLists.txt
@@ -12,7 +12,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 # Install Python executables
 install(PROGRAMS
-  scripts/system_monitor_node.py
+  system_monitor/system_monitor_node.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -23,4 +23,12 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
+# Install the package.xml file
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
\ No newline at end of file
diff --git a/mission/system_monitor/package.xml b/mission/system_monitor/package.xml
index 572e89a4..717985cd 100644
--- a/mission/system_monitor/package.xml
+++ b/mission/system_monitor/package.xml
@@ -8,6 +8,7 @@
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>launch</exec_depend>
@@ -16,6 +17,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/mission/system_monitor/setup.py b/mission/system_monitor/setup.py
deleted file mode 100644
index 7f8e7692..00000000
--- a/mission/system_monitor/setup.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from setuptools import setup
-
-package_name = 'system_monitor'
-
-setup(
-    name=package_name,
-    version='0.0.1',
-    packages=[package_name],
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='Your Name',
-    maintainer_email='your.email@example.com',
-    description='System Monitor for ROS2',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'system_monitor_node = system_monitor.system_monitor_node:main'
-        ],
-    },
-)
\ No newline at end of file
diff --git a/mission/system_monitor/scripts/system_monitor_node.py b/mission/system_monitor/system_monitor/system_monitor_node.py
similarity index 100%
rename from mission/system_monitor/scripts/system_monitor_node.py
rename to mission/system_monitor/system_monitor/system_monitor_node.py
diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
index e6677548..f7d5c508 100644
--- a/motion/thruster_allocator/src/allocator_ros.cpp
+++ b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -68,9 +68,6 @@ ThrusterAllocator::on_deactivate(const rclcpp_lifecycle::State &) {
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ThrusterAllocator::on_cleanup(const rclcpp_lifecycle::State &) {
-  thruster_forces_publisher_.reset();
-  wrench_subscriber_.reset();
-  calculate_thrust_timer_.reset();
   RCLCPP_INFO(get_logger(), "Thruster allocator cleaned up");
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
       CallbackReturn::SUCCESS;
@@ -78,6 +75,9 @@ ThrusterAllocator::on_cleanup(const rclcpp_lifecycle::State &) {
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ThrusterAllocator::on_shutdown(const rclcpp_lifecycle::State &) {
+  thruster_forces_publisher_.reset();
+  wrench_subscriber_.reset();
+  calculate_thrust_timer_.reset();
   RCLCPP_INFO(get_logger(), "Thruster allocator shutting down");
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
       CallbackReturn::SUCCESS;