 	pub_state.publish(&str);
 }
 
-ros::Subscriber<geometry_msgs::Vector3> pid_sub("launcher/pid_val/", pid_controls_cb);
+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){


ros::NodeHandle  nh;

std_msgs::String 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
