diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2926636..263cd3c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,22 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [1.0.3]  - 2024-08-17
+
+### Added
+
+* `rosservice_call` tool for ROS1
+
+### Changed
+
+* Changed ROSA class methods from private to protected to allow easier overrides.
+* Updated ros1 `roslog` tools to handle multiple logging directories.
+* Upgrade dependencies:
+    * `langchain` to 0.2.13
+    * `langchain-community` to 0.2.12
+    * `langchain_core` to 0.2.32
+    * `langchain-openai` to 0.1.21
+
 ## [1.0.2] - 2024-08-14
 
 ### Changed
diff --git a/README.md b/README.md
index 1bf67b8..6e4d7c7 100644
--- a/README.md
+++ b/README.md
@@ -210,3 +210,10 @@ See our: [LICENSE](LICENSE)
 Key points of contact are:
 
 - [@RobRoyce](https://github.com/RobRoyce) ([email](mailto:01-laptop-voiced@icloud.com))
+
+---
+
+<center>
+  ROSA: Robot Operating System Agent <br>
+  Copyright (c) 2024. Jet Propulsion Laboratory. All rights reserved.
+</center>
diff --git a/setup.py b/setup.py
index 327e39d..3d1a130 100644
--- a/setup.py
+++ b/setup.py
@@ -23,7 +23,7 @@
 
 setup(
     name="jpl-rosa",
-    version="1.0.2",
+    version="1.0.3",
     license="Apache 2.0",
     description="ROSA: the Robot Operating System Agent",
     long_description=long_description,
@@ -49,10 +49,10 @@
     install_requires=[
         "PyYAML==6.0.1",
         "python-dotenv>=1.0.1",
-        "langchain==0.2.7",
-        "langchain-openai==0.1.14",
-        "langchain-core==0.2.12",
-        "langchain-community",
+        "langchain==0.2.13",
+        "langchain-community==0.2.12",
+        "langchain-core==0.2.32",
+        "langchain-openai==0.1.21",
         "pydantic",
         "pyinputplus",
         "azure-identity",
diff --git a/src/rosa/rosa.py b/src/rosa/rosa.py
index 9e388d9..480ae9c 100644
--- a/src/rosa/rosa.py
+++ b/src/rosa/rosa.py
@@ -12,7 +12,6 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 
-import os
 from typing import Literal, Union, Optional
 
 from langchain.agents import AgentExecutor
@@ -61,7 +60,7 @@ def __init__(
         verbose: bool = False,
         blacklist: Optional[list] = None,
         accumulate_chat_history: bool = True,
-        show_token_usage: bool = False,
+        show_token_usage: bool = True,
     ):
         self.__chat_history = []
         self.__ros_version = ros_version
@@ -71,18 +70,26 @@ def __init__(
         self.__show_token_usage = show_token_usage
         self.__blacklist = blacklist if blacklist else []
         self.__accumulate_chat_history = accumulate_chat_history
-        self.__tools = self.__get_tools(
+        self.__tools = self._get_tools(
             ros_version, packages=tool_packages, tools=tools, blacklist=self.__blacklist
         )
-        self.__prompts = self.__get_prompts(prompts)
+        self.__prompts = self._get_prompts(prompts)
         self.__llm_with_tools = llm.bind_tools(self.__tools.get_tools())
-        self.__agent = self.__get_agent()
-        self.__executor = self.__get_executor(verbose=verbose)
+        self.__agent = self._get_agent()
+        self.__executor = self._get_executor(verbose=verbose)
+        self.__usage = None
+
+    @property
+    def chat_history(self):
+        return self.__chat_history
+
+    @property
+    def usage(self):
+        return self.__usage
 
     def clear_chat(self):
         """Clear the chat history."""
         self.__chat_history = []
-        os.system("clear")
 
     def invoke(self, query: str) -> str:
         """Invoke the agent with a user query."""
@@ -91,33 +98,22 @@ def invoke(self, query: str) -> str:
                 result = self.__executor.invoke(
                     {"input": query, "chat_history": self.__chat_history}
                 )
+                self.__usage = cb
                 if self.__show_token_usage:
-                    print(f"[bold]Prompt Tokens:[/bold] {cb.prompt_tokens}")
-                    print(f"[bold]Completion Tokens:[/bold] {cb.completion_tokens}")
-                    print(f"[bold]Total Cost (USD):[/bold] ${cb.total_cost}")
+                    self._print_usage()
         except Exception as e:
-            if f"{e}".strip() == "":
-                self.__record_chat_history(
-                    query,
-                    "An error with no description occurred. This is known to happen when multiple tools are used "
-                    "concurrently. Please try again.",
-                )
-                try:
-                    result = self.__executor.invoke(
-                        {
-                            "input": "Please try again.",
-                            "chat_history": self.__chat_history,
-                        }
-                    )
-                except Exception as e:
-                    return "An error with no description occurred. This is known to happen when multiple tools are used concurrently. Please try again."
-            else:
-                return f"An error occurred: {e}"
-
-        self.__record_chat_history(query, result["output"])
+            return f"An error occurred: {e}"
+
+        self._record_chat_history(query, result["output"])
         return result["output"]
 
-    def __get_executor(self, verbose: bool):
+    def _print_usage(self):
+        cb = self.__usage
+        print(f"[bold]Prompt Tokens:[/bold] {cb.prompt_tokens}")
+        print(f"[bold]Completion Tokens:[/bold] {cb.completion_tokens}")
+        print(f"[bold]Total Cost (USD):[/bold] ${cb.total_cost}")
+
+    def _get_executor(self, verbose: bool):
         executor = AgentExecutor(
             agent=self.__agent,
             tools=self.__tools.get_tools(),
@@ -126,7 +122,7 @@ def __get_executor(self, verbose: bool):
         )
         return executor
 
-    def __get_agent(self):
+    def _get_agent(self):
         agent = (
             {
                 "input": lambda x: x["input"],
@@ -141,7 +137,7 @@ def __get_agent(self):
         )
         return agent
 
-    def __get_tools(
+    def _get_tools(
         self,
         ros_version: Literal[1, 2],
         packages: Optional[list],
@@ -155,7 +151,7 @@ def __get_tools(
             rosa_tools.add_packages(packages, blacklist=blacklist)
         return rosa_tools
 
-    def __get_prompts(self, robot_prompts: Optional[RobotSystemPrompts] = None):
+    def _get_prompts(self, robot_prompts: Optional[RobotSystemPrompts] = None):
         prompts = system_prompts
         if robot_prompts:
             prompts.append(robot_prompts.as_message())
@@ -169,7 +165,7 @@ def __get_prompts(self, robot_prompts: Optional[RobotSystemPrompts] = None):
         )
         return template
 
-    def __record_chat_history(self, query: str, response: str):
+    def _record_chat_history(self, query: str, response: str):
         if self.__accumulate_chat_history:
             self.__chat_history.extend(
                 [HumanMessage(content=query), AIMessage(content=response)]
diff --git a/src/rosa/tools/ros1.py b/src/rosa/tools/ros1.py
index 7f1166d..9ed7e2a 100644
--- a/src/rosa/tools/ros1.py
+++ b/src/rosa/tools/ros1.py
@@ -334,7 +334,7 @@ def rostopic_echo(
     topic: str,
     count: int,
     return_echoes: bool = False,
-    delay: float = 0.0,
+    delay: float = 1.0,
     timeout: float = 1.0,
 ) -> dict:
     """
@@ -477,6 +477,21 @@ def rosservice_info(services: List[str]) -> dict:
     return details
 
 
+@tool
+def rosservice_call(service: str, args: List[str]) -> dict:
+    """Calls a specific ROS service with the provided arguments.
+
+    :param service: The name of the ROS service to call.
+    :param args: A list of arguments to pass to the service.
+    """
+    print(f"Calling ROS service '{service}' with arguments: {args}")
+    try:
+        response = rosservice.call_service(service, args)
+        return response
+    except Exception as e:
+        return {"error": f"Failed to call service '{service}': {e}"}
+
+
 @tool
 def rosmsg_info(msg_type: List[str]) -> dict:
     """Returns details about a specific ROS message type.
@@ -658,38 +673,71 @@ def roslog_list(min_size: int = 2048, blacklist: Optional[List[str]] = None) ->
 
     :param min_size: The minimum size of the log file in bytes to include in the list.
     """
-    rospy.loginfo("Getting ROS log files")
-    log_dir = f"{rospkg.get_log_dir()}/"
-    logs = os.listdir(log_dir)
 
-    # Filter out any log files that match any of the blacklist patterns
-    logs = list(
-        filter(
-            lambda x: not any(regex.match(f".*{pattern}", x) for pattern in blacklist),
-            logs,
-        )
-    )
+    logs = []
+    log_dirs = get_roslog_directories.invoke({})
 
-    # Get the log file sizes, in bytes
-    log_sizes = {}
-    for log in logs:
-        log_path = os.path.join(log_dir, log)
-        size = os.path.getsize(log_path)
-        if size >= min_size:
-            log_sizes[log] = size
+    for _, log_dir in log_dirs.items():
+        if not log_dir:
+            continue
 
-    # Sort the list by size (largest first)
-    log_sizes = dict(sorted(log_sizes.items(), key=lambda item: item[1], reverse=True))
+        # Get all .log files in the directory
+        log_files = [
+            os.path.join(log_dir, f)
+            for f in os.listdir(log_dir)
+            if os.path.isfile(os.path.join(log_dir, f)) and f.endswith(".log")
+        ]
 
-    return {
-        "log_file_directory": log_dir,
-        "logs_with_size_in_bytes": log_sizes,
-        "notes": "Recommend only displaying the top N log files when you present this list to the user.",
-    }
+        # Filter out blacklisted files
+        if blacklist:
+            log_files = list(
+                filter(
+                    lambda x: not any(
+                        regex.match(f".*{pattern}.*", x) for pattern in blacklist
+                    ),
+                    log_files,
+                )
+            )
+
+        # Filter out files that are too small
+        log_files = list(filter(lambda x: os.path.getsize(x) > min_size, log_files))
+
+        # Get the size of each log file in KB or MB if it's larger than 1 MB
+        log_files = [
+            {
+                f.replace(log_dir, ""): (
+                    f"{round(os.path.getsize(f) / 1024, 2)} KB"
+                    if os.path.getsize(f) < 1024 * 1024
+                    else f"{round(os.path.getsize(f) / (1024 * 1024), 2)} MB"
+                ),
+            }
+            for f in log_files
+        ]
+
+        if len(log_files) > 0:
+            logs.append(
+                {
+                    "directory": log_dir,
+                    "total": len(log_files),
+                    "files": log_files,
+                }
+            )
+
+    return dict(
+        total=len(logs),
+        logs=logs,
+    )
 
 
 @tool
-def roslog_get_log_directory() -> str:
-    """Returns the path to the ROS log directory."""
-    rospy.loginfo("Getting ROS log directory")
-    return f"{rospkg.get_log_dir()}/"
+def get_roslog_directories() -> dict:
+    """Returns any available ROS log directories."""
+    default_directory = rospkg.get_log_dir()
+    latest_directory = os.path.join(default_directory, "latest")
+    from_env = os.getenv("ROS_LOG_DIR")
+
+    return dict(
+        default=default_directory,
+        latest=latest_directory,
+        from_env=from_env,
+    )
diff --git a/src/turtle_agent/scripts/turtle_agent.py b/src/turtle_agent/scripts/turtle_agent.py
index 8d5956b..494bfa8 100755
--- a/src/turtle_agent/scripts/turtle_agent.py
+++ b/src/turtle_agent/scripts/turtle_agent.py
@@ -38,7 +38,7 @@ def cool_turtle_tool():
 
 class TurtleAgent(ROSA):
     def __init__(self, verbose: bool = True):
-        self.__blacklist = ["master"]
+        self.__blacklist = ["master", "docker"]
         self.__prompts = get_prompts()
         self.__llm = get_llm()
 
@@ -70,9 +70,9 @@ def run(self):
             if user_input == "exit":
                 break
             elif user_input == "help":
-                output = self.invoke(self.__get_help())
+                output = self.invoke(self.get_help())
             elif user_input == "examples":
-                examples = self.__examples()
+                examples = self.examples()
                 example = pyip.inputMenu(
                     choices=examples,
                     numbered=True,
@@ -87,8 +87,8 @@ def run(self):
                 output = self.invoke(user_input)
             console.print(Markdown(output))
 
-    def __get_help(self) -> str:
-        examples = self.__examples()
+    def get_help(self) -> str:
+        examples = self.examples()
 
         help_text = f"""
         The user has typed --help. Please provide a CLI-style help message. Use the following
@@ -122,7 +122,7 @@ def __get_help(self) -> str:
         """
         return help_text
 
-    def __examples(self):
+    def examples(self):
         return [
             "Give me a ROS tutorial using the turtlesim.",
             "Show me how to move the turtle forward.",