diff --git a/include/ap1/control/control_node.hpp b/include/ap1/control/control_node.hpp
index a130b04..0a5a840 100644
--- a/include/ap1/control/control_node.hpp
+++ b/include/ap1/control/control_node.hpp
@@ -11,11 +11,9 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "ap1_msgs/msg/motor_power_stamped.hpp"
 #include "ap1_msgs/msg/speed_profile_stamped.hpp"
 #include "ap1_msgs/msg/target_path_stamped.hpp"
-#include "ap1_msgs/msg/turn_angle_stamped.hpp"
-#include "ap1_msgs/msg/vehicle_speed_stamped.hpp"
+#include "ap1_msgs/msg/float_stamped.hpp"
 
 #include "ap1/control/ackermann_controller.hpp"
 #include "ap1/control/icontroller.hpp"
@@ -40,24 +38,24 @@ class ControlNode : public rclcpp::Node
     // stamped double or something
     ap1_msgs::msg::SpeedProfileStamped speed_profile_;
     ap1_msgs::msg::TargetPathStamped target_path_;
-    ap1_msgs::msg::VehicleSpeedStamped vehicle_speed_;
-    ap1_msgs::msg::TurnAngleStamped vehicle_turn_angle;
+    ap1_msgs::msg::FloatStamped vehicle_speed_;
+    ap1_msgs::msg::FloatStamped vehicle_turn_angle;
 
     // Subs
     rclcpp::Subscription<ap1_msgs::msg::TargetPathStamped>::SharedPtr target_path_sub_;
     rclcpp::Subscription<ap1_msgs::msg::SpeedProfileStamped>::SharedPtr speed_profile_sub_;
-    rclcpp::Subscription<ap1_msgs::msg::VehicleSpeedStamped>::SharedPtr vehicle_speed_sub_;
-    rclcpp::Subscription<ap1_msgs::msg::TurnAngleStamped>::SharedPtr vehicle_turn_angle_sub_;
+    rclcpp::Subscription<ap1_msgs::msg::FloatStamped>::SharedPtr vehicle_speed_sub_;
+    rclcpp::Subscription<ap1_msgs::msg::FloatStamped>::SharedPtr vehicle_turn_angle_sub_;
 
     // Pubs
-    rclcpp::Publisher<ap1_msgs::msg::TurnAngleStamped>::SharedPtr turning_angle_pub_;
-    rclcpp::Publisher<ap1_msgs::msg::MotorPowerStamped>::SharedPtr motor_power_pub_; // between -1 and 1? probably
+    rclcpp::Publisher<ap1_msgs::msg::FloatStamped>::SharedPtr turning_angle_pub_;
+    rclcpp::Publisher<ap1_msgs::msg::FloatStamped>::SharedPtr motor_power_pub_; // between -1 and 1? probably
 
     // Methods
     void on_speed_profile(const ap1_msgs::msg::SpeedProfileStamped speed_profile);
     void on_path(const ap1_msgs::msg::TargetPathStamped target_path);
-    void on_speed(const ap1_msgs::msg::VehicleSpeedStamped speed);
-    void on_turn_angle(const ap1_msgs::msg::TurnAngleStamped turn_angle);
+    void on_speed(const ap1_msgs::msg::FloatStamped speed);
+    void on_turn_angle(const ap1_msgs::msg::FloatStamped turn_angle);
     void control_loop_callback();
 
   public:
diff --git a/src/control_node.cpp b/src/control_node.cpp
index 29d9812..9e1d6ec 100644
--- a/src/control_node.cpp
+++ b/src/control_node.cpp
@@ -9,11 +9,9 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "ap1_msgs/msg/motor_power_stamped.hpp"
 #include "ap1_msgs/msg/speed_profile_stamped.hpp"
 #include "ap1_msgs/msg/target_path_stamped.hpp"
-#include "ap1_msgs/msg/turn_angle_stamped.hpp"
-#include "ap1_msgs/msg/vehicle_speed_stamped.hpp"
+#include "ap1_msgs/msg/float_stamped.hpp"
 
 #include "ap1/control/control_node.hpp"
 #include "ap1/control/icontroller.hpp"
@@ -33,20 +31,20 @@ void ControlNode::on_path(const TargetPathStamped target_path)
     target_path_ = target_path;
 }
 
-void ControlNode::on_speed(const VehicleSpeedStamped speed)
+void ControlNode::on_speed(const FloatStamped & msg)
 {
-    vehicle_speed_ = speed;
+    vehicle_speed_ = msg.value;
 }
 
-void ControlNode::on_turn_angle(const TurnAngleStamped turn_angle)
+void ControlNode::on_turn_angle(const FloatStamped & msg)
 {
-    vehicle_turn_angle = turn_angle;
+    vehicle_turn_angle = msg.value;
 }
 
 void ControlNode::control_loop_callback()
 {
     // the car's current velocity. we only support moving forward atp
-    const vec3f velocity(this->vehicle_speed_.speed, 0, 0); // +x is always forward on the car
+    const vec3f velocity(this->vehicle_speed_, 0, 0); // +x is always forward on the car
 
     const bool PATH_IS_STALE = false, SPEED_PROFILE_IS_STALE = false; // TEMP
 
@@ -77,16 +75,16 @@ void ControlNode::control_loop_callback()
     RCLCPP_INFO(this->get_logger(), "CMD: {throttle: %.2f, steering: %.2f}", cmd.throttle, cmd.steering);
 
     // pack the turn angle into a message
-    TurnAngleStamped turn_msg;
+    FloatStamped turn_msg;
     turn_msg.header.stamp = this->now();
     turn_msg.header.frame_id = "base_link";
-    turn_msg.angle = cmd.steering; // rads
+    turn_msg.value = cmd.steering; // rads
 
     // pack the power into a message
-    MotorPowerStamped pwr_msg;
+    FloatStamped pwr_msg;
     pwr_msg.header.stamp = this->now();
     pwr_msg.header.frame_id = "base_link";
-    pwr_msg.power = cmd.throttle; // [-1, 1]
+    pwr_msg.value = cmd.throttle; // [-1, 1]
     // pwr_msg.power = 1.0f;
 
     // send both messages out
@@ -105,16 +103,16 @@ ControlNode::ControlNode(const std::string& cfg_path, float rate_hz)
     target_path_sub_ = this->create_subscription<TargetPathStamped>(
         "ap1/planning/target_path", 10,
         std::bind(&ControlNode::on_path, this, std::placeholders::_1));
-    vehicle_speed_sub_ = this->create_subscription<VehicleSpeedStamped>(
+    vehicle_speed_sub_ = this->create_subscription<FloatStamped>(
         "ap1/actuation/speed_actual", 10,
         std::bind(&ControlNode::on_speed, this, std::placeholders::_1));
-    vehicle_turn_angle_sub_ = this->create_subscription<TurnAngleStamped>(
+    vehicle_turn_angle_sub_ = this->create_subscription<FloatStamped>(
         "ap1/actuation/turn_angle_actual", 10,
         std::bind(&ControlNode::on_turn_angle, this, std::placeholders::_1));
 
     // Pubs
-    turning_angle_pub_ = this->create_publisher<TurnAngleStamped>("ap1/control/turn_angle", 10);
-    motor_power_pub_ = this->create_publisher<MotorPowerStamped>("ap1/control/motor_power", 10);
+    turning_angle_pub_ = this->create_publisher<FloatStamped>("ap1/control/turn_angle", 10);
+    motor_power_pub_ = this->create_publisher<FloatStamped>("ap1/control/motor_power", 10);
 
     // Create Control Loop
     timer_ = this->create_wall_timer(std::chrono::duration<double>(1.0 / rate_hz),