 ros::NodeHandle  nh;
 
 std_msgs::String state_msg;
-ros::Publisher pub_state("launcher/state", &state_msg);
+ros::Publisher pub_state("/launcher/state", &state_msg);
 
 // Takes the current state from the interrupt service routine and 
 //  decides on the next commute state

	pub_state.publish(&str);
}

ros::Subscriber<geometry_msgs::Vector3> pid_sub("launcher/pid_val/", pid_controls_cb);

void setup(){
	//Pinmodes for the motor's PWM

	pub_state.publish(&str);
}

ros::Subscriber<geometry_msgs::Vector3> motor_sub("/launcher/motor_vel", motor_controls_cb);

void pid_controls_cb(const geometry_msgs::Vector3& pid_msg){

