diff --git a/RELEASING.md b/RELEASING.md
deleted file mode 100644
index 37c52701f..000000000
--- a/RELEASING.md
+++ /dev/null
@@ -1,541 +0,0 @@
-# SMACC2 Release Process
-
-This document details the process for creating a new SMACC2 release for ROS2 apt packages. The workflow involves Claude Code generating commands in a Docker container, while the human developer executes them on the host system due to GitHub authentication requirements.
-
-## Workflow Overview
-
-**Division of Labor:**
-- **Claude Code (Docker)**: Analyzes code, prepares files, generates commands, creates documentation
-- **Human Developer (Host)**: Executes git commands, handles GitHub authentication, runs bloom-release, creates PRs
-
-**Why This Split?**
-- Docker container lacks GitHub credentials for push/PR operations
-- Host system has configured git identity and GitHub access tokens
-- Bloom requires rosdep and GitHub API access from host environment
-
-## Prerequisites (Host System)
-
-### Required Tools
-
-```bash
-# Install bloom via pip (apt version may be outdated/unavailable)
-pip3 install --user bloom
-
-# Add to PATH (add to ~/.bashrc for persistence)
-export PATH="$HOME/.local/bin:$PATH"
-
-# Verify installation
-which bloom-release  # Should show ~/.local/bin/bloom-release
-```
-
-### Git Configuration
-
-```bash
-# Configure git identity (if not already set)
-git config user.email "your-email@example.com"
-git config user.name "Your Name"
-
-# Verify GitHub authentication
-ssh -T git@github.com  # OR
-gh auth status         # If using GitHub CLI
-```
-
-### Required Forks
-
-1. Fork `ros/rosdistro` to your GitHub account
-2. Ensure write access to `robosoft-ai/SMACC2` (maintainers only)
-3. Ensure write access to `robosoft-ai/SMACC2-release` (maintainers only)
-
-## Release Phases
-
-### Phase 1: Pre-Release Verification (Claude in Docker)
-
-Claude will:
-1. Verify the bug fix or feature exists in source code
-2. Review commit history since last release
-3. Determine appropriate version number (major.minor.patch)
-4. Analyze changes to categorize (fixes, features, breaking changes)
-
-**Example:**
-```bash
-# Claude runs these internally:
-git log 2.3.19..HEAD --oneline
-git diff 2.3.19..HEAD -- "*.hpp" "*.cpp"
-```
-
-### Phase 2: Version & Documentation Updates (Claude in Docker)
-
-Claude will:
-1. Update all package.xml files (42+ packages) to new version
-2. Generate comprehensive CHANGELOG.rst entry
-3. Prepare commit message
-
-**Human verifies and reviews changes before committing**
-
-### Phase 3: Commit, Tag, and Push (Human on Host)
-
-**Commands generated by Claude, executed by human:**
-
-```bash
-# Navigate to SMACC2 repository
-cd /path/to/SMACC2
-
-# Stage all version changes
-git add -A
-
-# Commit (Claude provides the commit message)
-git commit -m "Prepare release X.Y.Z
-
-[Claude-generated detailed commit message]
-
-🤖 Generated with Claude Code
-Co-Authored-By: Claude <noreply@anthropic.com>"
-
-# Create annotated release tag
-git tag -a X.Y.Z -m "Release X.Y.Z - [Primary fix/feature]"
-
-# Verify tag includes critical commits
-git log X.Y.Z --oneline | grep "critical-commit-hash"
-
-# Push to feature branch first (for PR workflow)
-git push origin your-branch-name
-git push origin X.Y.Z
-
-# Create PR to jazzy branch on GitHub
-# Review and merge PR
-```
-
-**Important:** After PR is merged, ensure the tag X.Y.Z is on the jazzy branch. You may need to re-create the tag after merge if it was on a feature branch.
-
-### Phase 4: Bloom Release Process (Human on Host)
-
-**Fix Common Issues First:**
-
-```bash
-# Fix rosdep configuration (if needed)
-# Check for broken rosdep sources
-rosdep update
-
-# If you see errors about missing local files:
-sudo mv /etc/ros/rosdep/sources.list.d/10-debian.list \
-        /etc/ros/rosdep/sources.list.d/10-debian.list.disabled
-
-# Verify rosdep works
-rosdep update  # Should complete without fatal errors
-```
-
-**Run Bloom Release:**
-
-```bash
-# Clone or navigate to release repository
-cd /tmp
-git clone https://github.com/robosoft-ai/SMACC2-release.git
-cd SMACC2-release
-
-# CRITICAL: Update tracks.yaml if needed
-# If bloom previously failed or used wrong version:
-sed -i 's/last_version: OLD_VERSION/last_version: X.Y.Z/g' tracks.yaml
-git add tracks.yaml
-git commit -m "Update tracks.yaml to version X.Y.Z"
-
-# Run bloom release
-bloom-release smacc2 --rosdistro jazzy --track jazzy --unsafe
-
-# When prompted about missing dependencies:
-# - Type 'y' if dependency is optional (e.g., demo packages)
-# - Type 'n' if dependency is critical
-
-# When prompted about creating fork/PR:
-# - Type 'y' to attempt automatic PR creation
-# - If it fails (403 error), you'll create PR manually
-```
-
-**Expected Output:**
-```
-Releasing package 'smacc2' for 'jazzy' to: 'release/jazzy/smacc2'
-[... many package releases ...]
-==> git-bloom-generate -y rosdebian --prefix release/jazzy jazzy -i 1
-[... debian branch generation ...]
-
-Open a pull request from 'username/rosdistro:bloom-smacc2-0' into 'ros/rosdistro:master'?
-Continue [Y/n]? y
-```
-
-**If Automatic PR Fails:**
-
-Bloom creates the commit locally but can't push due to authentication. The commit is in a temporary directory that gets cleaned up. You'll need to manually create the rosdistro PR.
-
-### Phase 5: Manual rosdistro PR Creation (Human on Host)
-
-**If bloom's automatic PR failed:**
-
-```bash
-# Clone your rosdistro fork
-cd /tmp
-git clone https://github.com/YOUR_USERNAME/rosdistro.git
-cd rosdistro
-
-# Create release branch from latest upstream
-git remote add upstream https://github.com/ros/rosdistro.git
-git fetch upstream
-git checkout -b smacc2-X.Y.Z-release upstream/master
-
-# Find the smacc2 entry
-grep -n "smacc2:" jazzy/distribution.yaml
-# Output: 10934:  smacc2:
-
-# Update the version (Claude will provide the sed command)
-sed -i 's/version: OLD_VERSION-REV/version: X.Y.Z-REV/g' jazzy/distribution.yaml
-
-# Verify the change
-sed -n 'LINE_NUMBER,LINE_NUMBER+15p' jazzy/distribution.yaml | grep version
-
-# Commit and push
-git add jazzy/distribution.yaml
-git commit -m "smacc2: X.Y.Z-REV in 'jazzy/distribution.yaml' [bloom]"
-git push origin smacc2-X.Y.Z-release
-```
-
-**Create PR on GitHub:**
-- Go to your fork: `https://github.com/YOUR_USERNAME/rosdistro`
-- Click "Compare & pull request"
-- **Base:** `ros/rosdistro:master`
-- **Title:** `smacc2: X.Y.Z-REV in 'jazzy/distribution.yaml' [bloom]`
-- **Description:**
-  ```markdown
-  Increasing version of package(s) in repository `smacc2` to `X.Y.Z-REV`:
-
-  - upstream repository: https://github.com/robosoft-ai/SMACC2.git
-  - release repository: https://github.com/robosoft-ai/SMACC2-release.git
-  - distro file: `jazzy/distribution.yaml`
-  - bloom version: `0.13.0`
-  - previous version for package: `OLD_VERSION-REV`
-  ```
-
-### Phase 6: Documentation & Communication (Claude + Human)
-
-**Claude generates, human publishes:**
-
-**1. GitHub Release Notes**
-- Go to: `https://github.com/robosoft-ai/SMACC2/releases/new`
-- Select tag: `X.Y.Z`
-- Copy title and description from Claude's prepared notes
-- Publish release
-
-**2. Issue Update (if release fixes an issue)**
-- Post Claude-generated comment on relevant issue
-- Include installation instructions for both apt and source users
-- Note expected timeline for apt availability (24-48 hours)
-
-**3. rosdistro PR Link**
-- Update issue/release notes with rosdistro PR link once created
-
-### Phase 7: Monitor & Verify (Human on Host)
-
-**Timeline:**
-- **Day 0:** Release created, rosdistro PR submitted
-- **Day 1-2:** ROS maintainers review and merge rosdistro PR
-- **Day 2-3:** Buildfarm compiles packages
-- **Day 3-4:** Packages sync to apt.ros.org
-
-**Monitoring Commands:**
-
-```bash
-# Check rosdistro PR status
-# Visit: https://github.com/ros/rosdistro/pulls
-
-# Check buildfarm status (after PR merge)
-# Visit: https://build.ros2.org/job/Hbin_uJ64__smacc2__ubuntu_jammy_amd64__binary/
-
-# Check apt package availability
-apt-cache policy ros-jazzy-smacc2
-# Should eventually show: Version: X.Y.Z-REVjammy...
-
-# Verify on clean system
-docker run -it ros:jazzy-ros-base bash
-apt update
-apt install ros-jazzy-smacc2
-apt show ros-jazzy-smacc2 | grep Version
-```
-
-**Final Steps:**
-- Update issue with confirmation of apt availability
-- Close related issues
-- Announce release in appropriate channels
-
-## Common Issues & Solutions
-
-### Issue 1: Bloom Uses Wrong Version
-
-**Symptom:**
-```
-Releasing package 'smacc2' for 'jazzy' to: 'release/jazzy/smacc2'
-ros-jazzy-smacc2 (2.3.18-1jammy) jammy; urgency=high  # <-- OLD VERSION!
-```
-
-**Solution:**
-```bash
-cd /tmp/SMACC2-release
-# Manually update tracks.yaml
-sed -i 's/last_version: OLD_VERSION/last_version: X.Y.Z/g' tracks.yaml
-git add tracks.yaml
-git commit -m "Update tracks.yaml to version X.Y.Z"
-# Re-run bloom-release
-bloom-release smacc2 --rosdistro jazzy --track jazzy --unsafe
-```
-
-### Issue 2: rosdep Update Fails
-
-**Symptom:**
-```
-ERROR: unable to process source [file:///usr/share/python3-rosdep2/debian.yaml]:
-Failed to update rosdep, did you run 'rosdep init' first?
-```
-
-**Solution:**
-```bash
-# Disable broken local rosdep source
-sudo mv /etc/ros/rosdep/sources.list.d/10-debian.list \
-        /etc/ros/rosdep/sources.list.d/10-debian.list.disabled
-
-# Verify fix
-rosdep update
-# Should show warnings but complete successfully
-```
-
-### Issue 3: Missing Dependency in Bloom
-
-**Symptom:**
-```
-Could not resolve rosdep key 'some_package'
-Failed to resolve some_package on ubuntu:jammy
-```
-
-**Solution:**
-- If dependency is for optional/demo packages: Answer **'y'** to continue
-- If dependency is critical: Fix the dependency issue before proceeding
-- Most SMACC2 demo state machines have optional dependencies that can be skipped
-
-### Issue 4: Tag Not on Correct Branch
-
-**Symptom:**
-Tag was created on feature branch, then PR was merged to jazzy, but tag isn't on jazzy branch.
-
-**Solution:**
-```bash
-# After PR is merged to jazzy
-git checkout jazzy
-git pull origin jazzy
-
-# Re-create tag on jazzy branch
-git tag -d X.Y.Z  # Delete local tag
-git push origin :refs/tags/X.Y.Z  # Delete remote tag
-git tag -a X.Y.Z -m "Release X.Y.Z - [description]"
-git push origin X.Y.Z
-
-# Verify tag is on jazzy
-git branch --contains X.Y.Z
-# Should show: jazzy
-```
-
-### Issue 5: GitHub Authentication Fails
-
-**Symptom:**
-```
-fatal: could not read Username for 'https://github.com': No such device or address
-```
-
-**Solution:**
-Ensure you're on the host system (not Docker) with configured GitHub credentials:
-```bash
-# Use SSH URLs (recommended)
-git remote set-url origin git@github.com:robosoft-ai/SMACC2.git
-
-# OR use GitHub CLI
-gh auth login
-
-# OR use personal access token
-# Create token at: https://github.com/settings/tokens
-git config --global credential.helper store
-git push  # Will prompt for username and token
-```
-
-## Version Numbering Guidelines
-
-**Semantic Versioning (MAJOR.MINOR.PATCH):**
-
-- **PATCH (X.Y.Z → X.Y.Z+1):** Bug fixes, no API changes
-  - Example: Fixing double onExit() calls
-  - Most common for maintenance releases
-
-- **MINOR (X.Y.Z → X.Y+1.0):** New features, backward compatible
-  - Example: New client library (cl_moveit2z)
-  - Component additions
-  - Non-breaking API extensions
-
-- **MAJOR (X.Y.Z → X+1.0.0):** Breaking changes
-  - Example: Namespace restructuring that breaks user code
-  - Signature changes to public APIs
-  - Removed deprecated features
-
-**Debian Revision (-REV):**
-- Increments with each bloom release for same upstream version
-- Usually `-1` for first release, `-2` if you need to re-release
-- Example: `2.3.20-1`, `2.3.20-2`
-
-## Release Checklist
-
-**Before Starting:**
-- [ ] Verify you have maintainer access to SMACC2 repositories
-- [ ] Fork `ros/rosdistro` to your GitHub account
-- [ ] Install bloom on host: `pip3 install --user bloom`
-- [ ] Configure git identity on host
-- [ ] Test GitHub authentication
-
-**Release Steps:**
-- [ ] Claude verifies fix/feature in code
-- [ ] Claude reviews commits and determines version
-- [ ] Claude updates package.xml files (42 packages)
-- [ ] Claude generates CHANGELOG entry
-- [ ] Human commits and pushes changes
-- [ ] Human creates and merges PR to jazzy branch
-- [ ] Human creates and pushes release tag
-- [ ] Human fixes rosdep issues (if any)
-- [ ] Human runs bloom-release
-- [ ] Human creates rosdistro PR (manual if bloom fails)
-- [ ] Human creates GitHub release with Claude's notes
-- [ ] Human posts issue updates
-- [ ] Human monitors rosdistro PR merge (1-2 days)
-- [ ] Human monitors buildfarm (1-2 days after merge)
-- [ ] Human verifies apt package availability
-- [ ] Human closes related issues
-
-**Time Estimates:**
-- Active work: 2-4 hours (spread across Claude + Human)
-- Total calendar time: 3-5 days (waiting for buildfarm)
-
-## Reference Files
-
-**Version Locations:**
-- All package.xml files: `find . -name package.xml | xargs grep "<version>"`
-- Main package: `smacc2/package.xml`
-- Messages: `smacc2_msgs/package.xml`
-
-**Documentation:**
-- Main CHANGELOG: `smacc2/CHANGELOG.rst`
-- Release tracks: `https://github.com/robosoft-ai/SMACC2-release/blob/master/tracks.yaml`
-- rosdistro entry: `https://github.com/ros/rosdistro/blob/master/jazzy/distribution.yaml`
-
-**Monitoring:**
-- Buildfarm: `https://build.ros2.org/`
-- Apt packages: `http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-jazzy-smacc2/`
-- rosdistro PRs: `https://github.com/ros/rosdistro/pulls`
-
-## Example: Release 2.3.20 Process
-
-This section documents the actual release process for version 2.3.20, which fixed the critical double onExit() bug (#556).
-
-### Initial Analysis
-
-```bash
-# Claude verified the fix
-git log --oneline | grep "double finishing"
-# Output: 1fabc680 remove double finishing (#558)
-
-# Reviewed commits since 2.3.19
-git log 2.3.19..HEAD --oneline
-# Found 54 commits including the fix and major refactoring
-
-# Decision: 2.3.20 (patch release for critical bug fix)
-```
-
-### Version Updates
-
-```bash
-# Claude updated all 42 package.xml files
-find . -name "package.xml" -exec sed -i 's/<version>2\.3\.19<\/version>/<version>2.3.20<\/version>/g' {} \;
-
-# Verified
-find . -name "package.xml" -exec grep -H "<version>" {} \; | grep -v "2.3.20" | wc -l
-# Output: 0 (all updated)
-```
-
-### Commit and Tag
-
-```bash
-# Configured git on host
-git config user.email "brett@robosoft.ai"
-git config user.name "brettpac"
-
-# Committed changes
-git add -A
-git commit -m "Prepare release 2.3.20..."
-
-# Created tag
-git tag -a 2.3.20 -m "Release 2.3.20 - Fix double onExit() calls (#556)"
-
-# Pushed (after PR merge to jazzy)
-git push origin jazzy
-git push origin 2.3.20
-```
-
-### Bloom Release
-
-```bash
-# Fixed rosdep issue
-sudo mv /etc/ros/rosdep/sources.list.d/10-debian.list \
-        /etc/ros/rosdep/sources.list.d/10-debian.list.disabled
-
-# Updated tracks.yaml (bloom initially used old version)
-cd /tmp/SMACC2-release
-sed -i 's/last_version: 2\.3\.18/last_version: 2.3.20/g' tracks.yaml
-git add tracks.yaml
-git commit -m "Update tracks.yaml to version 2.3.20"
-
-# Ran bloom
-bloom-release smacc2 --rosdistro jazzy --track jazzy --unsafe
-# Answered 'y' to missing ros_publisher_client dependency (optional demo package)
-# Automatic PR failed with 403 error
-```
-
-### Manual rosdistro PR
-
-```bash
-# Cloned fork
-cd /tmp
-git clone https://github.com/brettpac/rosdistro.git
-cd rosdistro
-git remote add upstream https://github.com/ros/rosdistro.git
-git fetch upstream
-git checkout -b smacc2-2.3.20-release upstream/master
-
-# Updated version
-grep -n "smacc2:" jazzy/distribution.yaml
-# Output: 10934:  smacc2:
-sed -i 's/version: 2\.3\.18-1/version: 2.3.20-2/g' jazzy/distribution.yaml
-
-# Committed and pushed
-git add jazzy/distribution.yaml
-git commit -m "smacc2: 2.3.20-2 in 'jazzy/distribution.yaml' [bloom]"
-git push origin smacc2-2.3.20-release
-
-# Created PR on GitHub
-# PR link: [to be filled after creation]
-```
-
-### Outcome
-
-- ✅ Version 2.3.20 released with double onExit() fix
-- ✅ All 42 packages version-locked at 2.3.20
-- ✅ Comprehensive CHANGELOG entry created
-- ✅ Debian release branches created with 2.3.20-2
-- ✅ rosdistro PR submitted
-- ⏳ Awaiting buildfarm (24-48 hours)
-
-## References
-
-- [Bloom Documentation](http://wiki.ros.org/bloom)
-- [ROS2 Release Process](https://docs.ros.org/en/rolling/How-To-Guides/Releasing/First-Time-Release.html)
-- [rosdistro Repository](https://github.com/ros/rosdistro)
-- [Semantic Versioning](https://semver.org/)
-- [ROS2 Buildfarm](https://build.ros2.org/)
diff --git a/smacc2/include/smacc2/client_behaviors/cb_call_service.hpp b/smacc2/include/smacc2/client_behaviors/cb_call_service.hpp
index 532c6f78e..8d9274be6 100644
--- a/smacc2/include/smacc2/client_behaviors/cb_call_service.hpp
+++ b/smacc2/include/smacc2/client_behaviors/cb_call_service.hpp
@@ -86,14 +86,13 @@ class CbServiceCall : public smacc2::SmaccAsyncClientBehavior
 
   std::shared_future<std::shared_ptr<typename ServiceType::Response>> resultFuture_;
 
-  typename std::shared_ptr<typename ServiceType::Response> result_;
-  std::chrono::milliseconds pollRate_;
-
 protected:
   //rclcpp::NodeHandle nh_;
   std::shared_ptr<rclcpp::Client<ServiceType>> client_;
   std::string serviceName_;
   std::shared_ptr<typename ServiceType::Request> request_;
+  typename std::shared_ptr<typename ServiceType::Response> result_;
+  std::chrono::milliseconds pollRate_;
 
   virtual void onServiceResponse(std::shared_ptr<typename ServiceType::Response> /*result*/)
   {
diff --git a/smacc2/package.xml b/smacc2/package.xml
index ac45b94b2..21b7b6707 100644
--- a/smacc2/package.xml
+++ b/smacc2/package.xml
@@ -8,8 +8,7 @@
 
   <author email="pablo@ibrobotics.com">Pablo Inigo Blasco</author>
   <author email="brett@robosoft.ai">Brett Aldrich</author>
-  <maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
-  <maintainer email="denis@stoglrobotics.de">Denis Stogl</maintainer>
+  <maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_position_control_free_space.cpp b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_position_control_free_space.cpp
index 28a81832e..64aa9de5a 100644
--- a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_position_control_free_space.cpp
+++ b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_position_control_free_space.cpp
@@ -50,8 +50,6 @@ void CbPositionControlFreeSpace::onEntry()
   geometry_msgs::msg::Pose currentPose = pose->toPoseMsg();
 
   rclcpp::Rate loop_rate(10);
-  double countAngle = 0;
-  auto prevyaw = tf2::getYaw(currentPose.orientation);
 
   // PID controller gains (proportional, integral, and derivative)
   double kp_linear = 0.5;
diff --git a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_spiral_motion.cpp b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_spiral_motion.cpp
index bdff2ade7..4358cc93f 100644
--- a/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_spiral_motion.cpp
+++ b/smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_spiral_motion.cpp
@@ -99,7 +99,6 @@ void CbSpiralMotion::onEntry()
       cmd_vel.linear.x = maxLinearVelocity;
     }
 
-    float signVal = (cmd_vel.angular.z >= 0.0f) ? 1.0f : -1.0f;
     // cmd_vel.angular.z -= signVal * angularAcceleration * dt;
 
     float ellapsedTimeFactor = current_time.seconds() / spiralMotionDuration.seconds();
diff --git a/smacc2_client_library/cl_nav2z/src/cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator.cpp b/smacc2_client_library/cl_nav2z/src/cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator.cpp
index 770fc1928..e2a86869c 100644
--- a/smacc2_client_library/cl_nav2z/src/cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator.cpp
+++ b/smacc2_client_library/cl_nav2z/src/cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator.cpp
@@ -478,7 +478,7 @@ void CpWaypointNavigatorBase::loadWayPointsFromFile(std::string filepath)
 
     if (wp_node != NULL)
     {
-      for (int64_t i = 0; i < wp_node->size(); ++i)
+      for (std::size_t i = 0; i < wp_node->size(); ++i)
       {
         // Parse waypoint entries on YAML
         geometry_msgs::msg::Pose wp;
@@ -551,7 +551,7 @@ void CpWaypointNavigatorBase::loadWayPointsFromFile2(std::string filepath)
 
     if (wp_node != NULL)
     {
-      for (int64_t i = 0; i < wp_node->size(); ++i)
+      for (std::size_t i = 0; i < wp_node->size(); ++i)
       {
         // Parse waypoint entries on YAML
         geometry_msgs::msg::Pose wp;
diff --git a/smacc2_dev_tools/sm_reference_lib_run_commands.md b/smacc2_dev_tools/sm_reference_lib_run_commands.md
index 8e0101640..6360f61e4 100644
--- a/smacc2_dev_tools/sm_reference_lib_run_commands.md
+++ b/smacc2_dev_tools/sm_reference_lib_run_commands.md
@@ -1,5 +1,21 @@
 ```
-ros2 launch sm_cl_ros2_timer_unit_test_1 sm_cl_ros2_timer_unit_test_1.py
+ros2 launch sm_advanced_recovery_1 sm_advanced_recovery_1.py
+```
+
+```
+ros2 launch sm_atomic sm_atomic.py
+```
+
+```
+ros2 launch sm_atomic_lifecycle sm_atomic_lifecycle.py
+```
+
+```
+ros2 launch sm_atomic_mode_states sm_atomic_mode_states.py
+```
+
+```
+ros2 launch sm_branching sm_branching.py
 ```
 
 ```
@@ -7,17 +23,33 @@ ros2 launch sm_cl_keyboard_unit_test_1 sm_cl_keyboard_unit_test_1.py
 ```
 
 ```
-ros2 launch sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory.launch.py
+ros2 launch sm_cl_ros2_timer_unit_test_1 sm_cl_ros2_timer_unit_test_1.py
 ```
 
 ```
-ros2 launch sm_multi_stage_1 sm_multi_stage_1.launch
+ros2 launch sm_multi_stage_1 sm_multi_stage_1.py
 ```
 
 ```
-ros2 launch sm_atomic_mode_states sm_atomic_mode_states.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1.py
 ```
 
 ```
-ros2 launch sm_atomic_lifecycle sm_atomic_lifecycle.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.py
+```
+
+```
+ros2 launch sm_pack_ml sm_pack_ml.py
+```
+
+```
+ros2 launch sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory.py
+```
+
+```
+ros2 launch sm_simple_action_client sm_simple_action_client.py
+```
+
+```
+ros2 launch sm_three_some sm_three_some.py
 ```
diff --git a/smacc2_sm_reference_library/sm_advanced_recovery_1/README.md b/smacc2_sm_reference_library/sm_advanced_recovery_1/README.md
index b88fa7541..0d7854aa9 100644
--- a/smacc2_sm_reference_library/sm_advanced_recovery_1/README.md
+++ b/smacc2_sm_reference_library/sm_advanced_recovery_1/README.md
@@ -32,7 +32,7 @@ source install/setup.bash
 And then run the launch file...
 
 ```
-ros2 launch sm_advanced_recovery_1 sm_advanced_recovery_1.launch
+ros2 launch sm_advanced_recovery_1 sm_advanced_recovery_1.py
 ```
 
  <h2>Viewer Instructions</h2>
diff --git a/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.launch b/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.launch
deleted file mode 100644
index 0296f5208..000000000
--- a/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-    <arg name="server_nodes_xterms" default="xterm -xrm 'XTerm*scrollBar:  true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e" />
-
-    <node pkg="sm_advanced_recovery_1" exec="sm_advanced_recovery_1_node" name="sm_advanced_recovery_1" launch-prefix="$(var server_nodes_xterms)" />
-    <node pkg="cl_keyboard" exec="keyboard_server_node.py" name="keyboard_server_node" launch-prefix="$(var server_nodes_xterms)"  />
-</launch>
diff --git a/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py b/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py
index 213058c2f..41a9fc821 100644
--- a/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py
+++ b/smacc2_sm_reference_library/sm_advanced_recovery_1/launch/sm_advanced_recovery_1.py
@@ -59,17 +59,17 @@ def generate_launch_description():
 
     # Construct logging prefix for state machine node
     if log_dir:
-        state_machine_log = os.path.join(log_dir, f"sm_advanced_recovery_1_node_{timestamp}.log")
-        state_machine_prefix = f"konsole --hold -p tabtitle='SM Advanced Recovery 1' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
+        state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log")
+        state_machine_prefix = f"konsole --hold -p tabtitle='SM Advanced Recovery' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
     else:
-        state_machine_prefix = "konsole --hold -p tabtitle='SM Advanced Recovery 1' -e"
+        state_machine_prefix = "konsole --hold -p tabtitle='SM Advanced Recovery' -e"
 
-    # Construct logging prefix for keyboard client node
+    # Construct logging prefix for keyboard server node
     if log_dir:
-        keyboard_log = os.path.join(log_dir, f"keyboard_server_node_{timestamp}.log")
-        keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Client' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- "
+        keyboard_log = os.path.join(log_dir, f"keyboard_server_{timestamp}.log")
+        keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Server' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- "
     else:
-        keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Client' -e"
+        keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Server' -e"
 
     return LaunchDescription(
         [
@@ -79,6 +79,7 @@ def generate_launch_description():
                 name="sm_advanced_recovery_1",
                 output="screen",
                 prefix=state_machine_prefix,
+                arguments=["--ros-args", "--log-level", "DEBUG"],
             ),
             Node(
                 package="cl_keyboard",
@@ -86,6 +87,7 @@ def generate_launch_description():
                 name="keyboard_server_node",
                 output="screen",
                 prefix=keyboard_prefix,
+                arguments=["--ros-args", "--log-level", "INFO"],
             ),
-        ]
+        ],
     )
diff --git a/smacc2_sm_reference_library/sm_atomic/config/sm_atomic_test.yaml b/smacc2_sm_reference_library/sm_atomic/config/sm_atomic_test.yaml
deleted file mode 100644
index 1a8b170a7..000000000
--- a/smacc2_sm_reference_library/sm_atomic/config/sm_atomic_test.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-state_machine_rosparam_ws: /SmAtomic
-success_switch:
-   - type: state_reached
-     state_name: "sm_atomic::State2"
-failure_switch:
-   - type: timeout
-     duration: 10.0 # sec
diff --git a/smacc2_sm_reference_library/sm_atomic/launch/sm_atomic.launch b/smacc2_sm_reference_library/sm_atomic/launch/sm_atomic.launch
deleted file mode 100644
index e4e8e51cb..000000000
--- a/smacc2_sm_reference_library/sm_atomic/launch/sm_atomic.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-    <node pkg="sm_atomic" exec="sm_atomic_node" name="sm_atomic">
-        <param from="$(find-pkg-share sm_atomic)/config/sm_atomic_config.yaml"/>
-    </node>
-</launch>
diff --git a/smacc2_sm_reference_library/sm_atomic_http/config/sm_atomic_http_test.yaml b/smacc2_sm_reference_library/sm_atomic_http/config/sm_atomic_http_test.yaml
deleted file mode 100644
index 2a81cc1f0..000000000
--- a/smacc2_sm_reference_library/sm_atomic_http/config/sm_atomic_http_test.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-state_machine_rosparam_ws: /SmAtomicHttp
-success_switch:
-   - type: state_reached
-     state_name: "sm_atomic_http::State2"
-failure_switch:
-   - type: timeout
-     duration: 10.0 # sec
diff --git a/smacc2_sm_reference_library/sm_atomic_http/launch/sm_atomic_http.launch b/smacc2_sm_reference_library/sm_atomic_http/launch/sm_atomic_http.launch
deleted file mode 100644
index 217a24cb3..000000000
--- a/smacc2_sm_reference_library/sm_atomic_http/launch/sm_atomic_http.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-    <node pkg="sm_atomic_http" exec="sm_atomic_http_node" name="sm_atomic_http">
-        <param from="$(find-pkg-share sm_atomic_http)/config/sm_atomic_http_config.yaml"/>
-    </node>
-</launch>
diff --git a/smacc2_sm_reference_library/sm_atomic_lifecycle/launch/sm_atomic_lifecycle.py b/smacc2_sm_reference_library/sm_atomic_lifecycle/launch/sm_atomic_lifecycle.py
index 3a28e6d70..f553c2371 100755
--- a/smacc2_sm_reference_library/sm_atomic_lifecycle/launch/sm_atomic_lifecycle.py
+++ b/smacc2_sm_reference_library/sm_atomic_lifecycle/launch/sm_atomic_lifecycle.py
@@ -67,9 +67,9 @@ def generate_launch_description():
     # Construct logging prefix for lifecycle example node
     if log_dir:
         lifecycle_log = os.path.join(log_dir, f"lifecycle_example_node_{timestamp}.log")
-        lifecycle_prefix = f"konsole --hold -p tabtitle='Lifecycle Example' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {lifecycle_log}; exec bash' -- "
+        lifecycle_prefix = f"konsole --hold -p tabtitle='Lifecycle Example Node' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {lifecycle_log}; exec bash' -- "
     else:
-        lifecycle_prefix = "konsole --hold -p tabtitle='Lifecycle Example' -e"
+        lifecycle_prefix = "konsole --hold -p tabtitle='Lifecycle Example Node' -e"
 
     return LaunchDescription(
         [
diff --git a/smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_config.yaml b/smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_mode_states_config.yaml
similarity index 100%
rename from smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_config.yaml
rename to smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_mode_states_config.yaml
diff --git a/smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_test.yaml b/smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_test.yaml
deleted file mode 100644
index 65c2cd957..000000000
--- a/smacc2_sm_reference_library/sm_atomic_mode_states/config/sm_atomic_test.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-state_machine_rosparam_ws: /SmAtomicModeStates
-success_switch:
-   - type: state_reached
-     state_name: "sm_atomic_mode_states::State2"
-failure_switch:
-   - type: timeout
-     duration: 10.0 # sec
diff --git a/smacc2_sm_reference_library/sm_branching/README.md b/smacc2_sm_reference_library/sm_branching/README.md
index cd2fc74cf..93ebf74ac 100644
--- a/smacc2_sm_reference_library/sm_branching/README.md
+++ b/smacc2_sm_reference_library/sm_branching/README.md
@@ -30,10 +30,9 @@ source install/setup.bash
 ```
 
 And then run the launch file...
-! refactor state machine name
 
 ```
-ros2 launch sm_branching sm_branching.launch
+ros2 launch sm_branching sm_branching.py
 ```
 
  <h2>Viewer Instructions</h2>
diff --git a/smacc2_sm_reference_library/sm_branching/config/sm_branching_test.yaml b/smacc2_sm_reference_library/sm_branching/config/sm_branching_test.yaml
deleted file mode 100644
index 1a8b170a7..000000000
--- a/smacc2_sm_reference_library/sm_branching/config/sm_branching_test.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-state_machine_rosparam_ws: /SmAtomic
-success_switch:
-   - type: state_reached
-     state_name: "sm_atomic::State2"
-failure_switch:
-   - type: timeout
-     duration: 10.0 # sec
diff --git a/smacc2_sm_reference_library/sm_branching/launch/sm_branching.launch b/smacc2_sm_reference_library/sm_branching/launch/sm_branching.launch
deleted file mode 100644
index f25ec2e92..000000000
--- a/smacc2_sm_reference_library/sm_branching/launch/sm_branching.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-    <node pkg="sm_branching" exec="sm_branching_node" name="sm_branching">
-        <param from="$(find-pkg-share sm_branching)/config/sm_branching_config.yaml"/>
-    </node>
-</launch>
diff --git a/smacc2_sm_reference_library/sm_branching/launch/sm_branching.py b/smacc2_sm_reference_library/sm_branching/launch/sm_branching.py
new file mode 100644
index 000000000..8ea1d48ca
--- /dev/null
+++ b/smacc2_sm_reference_library/sm_branching/launch/sm_branching.py
@@ -0,0 +1,81 @@
+# Copyright 2021 RobosoftAI Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from datetime import datetime
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def setup_log_directory():
+    """
+    Creates timestamped log directory with error handling.
+    Returns: (log_dir_path, timestamp) tuple
+    """
+    timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+
+    # Primary log directory location
+    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_branching")
+
+    try:
+        os.makedirs(log_dir, mode=0o755, exist_ok=True)
+        print(f"[Launch] Log directory created: {log_dir}")
+        return log_dir, timestamp
+    except PermissionError as e:
+        # Fallback to /tmp if ~/.ros is not writable
+        fallback_dir = os.path.join("/tmp", "sm_branching_logs", timestamp)
+        print(f"[Launch] WARNING: Cannot create log directory at {log_dir}")
+        print(f"[Launch] Permission denied: {e}")
+        print(f"[Launch] Using fallback directory: {fallback_dir}")
+        try:
+            os.makedirs(fallback_dir, mode=0o755, exist_ok=True)
+            return fallback_dir, timestamp
+        except Exception as fallback_error:
+            print(f"[Launch] ERROR: Cannot create fallback directory: {fallback_error}")
+            print(f"[Launch] Logs will only be displayed in konsole terminals")
+            return None, timestamp
+    except OSError as e:
+        print(f"[Launch] ERROR: Failed to create log directory: {e}")
+        print(f"[Launch] Logs will only be displayed in konsole terminals")
+        return None, timestamp
+
+
+def generate_launch_description():
+    # Setup logging directory
+    log_dir, timestamp = setup_log_directory()
+
+    # Get package share directory for config file
+    package_share_dir = get_package_share_directory("sm_branching")
+    config_file = os.path.join(package_share_dir, "config", "sm_branching_config.yaml")
+
+    # Construct logging prefix for state machine node
+    if log_dir:
+        state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log")
+        state_machine_prefix = f"konsole --hold -p tabtitle='SM Branching' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
+    else:
+        state_machine_prefix = "konsole --hold -p tabtitle='SM Branching' -e"
+
+    return LaunchDescription(
+        [
+            Node(
+                package="sm_branching",
+                executable="sm_branching_node",
+                name="sm_branching",
+                output="screen",
+                prefix=state_machine_prefix,
+                parameters=[config_file],
+            ),
+        ],
+    )
diff --git a/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/launch/sm_cl_keyboard_unit_test_1.py b/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/launch/sm_cl_keyboard_unit_test_1.py
index 88d189c0b..e481a514d 100644
--- a/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/launch/sm_cl_keyboard_unit_test_1.py
+++ b/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/launch/sm_cl_keyboard_unit_test_1.py
@@ -27,9 +27,9 @@ def generate_launch_description():
             Node(
                 package="cl_keyboard",
                 executable="keyboard_server_node.py",
-                name="cl_keyboard",
+                name="keyboard_server_node",
                 output="screen",
-                prefix="xterm -hold -e",
+                prefix="konsole --hold -p tabtitle='Keyboard Server' -e",
                 arguments=["--ros-args", "--log-level", "INFO"],
             ),
         ]
diff --git a/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/package.xml b/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/package.xml
index 07b538769..252079dc7 100644
--- a/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/package.xml
+++ b/smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/package.xml
@@ -4,7 +4,7 @@
   <name>sm_cl_keyboard_unit_test_1</name>
   <version>3.0.1</version>
   <description>The sm_cl_keyboard_unit_test_1 package</description>
-  <maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
+  <maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -13,7 +13,7 @@
   <depend>cl_keyboard</depend>
   <depend>smacc2</depend>
 
-  <exec_depend>xterm</exec_depend>
+  <exec_depend>konsole</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/smacc2_sm_reference_library/sm_cl_ros2_timer_unit_test_1/package.xml b/smacc2_sm_reference_library/sm_cl_ros2_timer_unit_test_1/package.xml
index c25177a6c..c00f74e56 100644
--- a/smacc2_sm_reference_library/sm_cl_ros2_timer_unit_test_1/package.xml
+++ b/smacc2_sm_reference_library/sm_cl_ros2_timer_unit_test_1/package.xml
@@ -4,7 +4,7 @@
   <name>sm_cl_ros2_timer_unit_test_1</name>
   <version>3.0.1</version>
   <description>The sm_cl_ros2_timer_unit_test_1 package</description>
-  <maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
+  <maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -12,8 +12,6 @@
   <depend>cl_ros2_timer</depend>
   <depend>smacc2</depend>
 
-  <exec_depend>xterm</exec_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/README.md b/smacc2_sm_reference_library/sm_multi_stage_1/README.md
index 4ae66d289..9f81527fe 100644
--- a/smacc2_sm_reference_library/sm_multi_stage_1/README.md
+++ b/smacc2_sm_reference_library/sm_multi_stage_1/README.md
@@ -32,7 +32,7 @@ source install/setup.bash
 And then run the launch file...
 
 ```
-ros2 launch sm_multi_stage_1 sm_multi_stage_1.launch
+ros2 launch sm_multi_stage_1 sm_multi_stage_1.py
 ```
 
  <h2>Viewer Instructions</h2>
diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch b/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch
deleted file mode 100644
index 81afe4c6d..000000000
--- a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-    <arg name="server_nodes_xterms" default="xterm -xrm 'XTerm*scrollBar:  true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e" />
-
-    <node pkg="sm_multi_stage_1" exec="sm_multi_stage_1_node" name="sm_multi_stage_1" launch-prefix="$(var server_nodes_xterms)" />
-    <node pkg="cl_keyboard" exec="keyboard_server_node.py" name="keyboard_server_node" launch-prefix="$(var server_nodes_xterms)"  />
-</launch>
diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.py b/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.py
index f35d88619..b5d886fe5 100644
--- a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.py
+++ b/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.py
@@ -15,6 +15,7 @@
 import os
 from datetime import datetime
 from launch import LaunchDescription
+from launch.actions import OpaqueFunction
 from launch_ros.actions import Node
 
 
@@ -26,7 +27,7 @@ def setup_log_directory():
     timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
 
     # Primary log directory location
-    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_multi_stage_1")
+    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", timestamp)
 
     try:
         os.makedirs(log_dir, mode=0o755, exist_ok=True)
@@ -52,38 +53,49 @@ def setup_log_directory():
 
 
 def generate_launch_description():
+    return LaunchDescription([OpaqueFunction(function=launch_setup)])
+
+
+def launch_setup(context, *args, **kwargs):
+
     # Setup logging directory
     log_dir, timestamp = setup_log_directory()
 
     # Construct logging prefix for state machine node
     if log_dir:
-        state_machine_log = os.path.join(log_dir, f"sm_multi_stage_1_node_{timestamp}.log")
-        state_machine_prefix = f"konsole --hold -p tabtitle='SM Multi Stage 1' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
+        state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log")
+        state_machine_prefix = f'konsole --hold -p tabtitle="State Machine" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {state_machine_log}; exec bash\' -- '
     else:
-        state_machine_prefix = "konsole --hold -p tabtitle='SM Multi Stage 1' -e"
+        state_machine_prefix = 'konsole --hold -p tabtitle="State Machine" -e'
+
+    sm_multi_stage_1_node = Node(
+        package="sm_multi_stage_1",
+        executable="sm_multi_stage_1_node",
+        name="sm_multi_stage_1",
+        output="screen",
+        prefix=state_machine_prefix,
+        arguments=["--ros-args", "--log-level", "DEBUG"],
+    )
 
     # Construct logging prefix for keyboard client node
     if log_dir:
-        keyboard_log = os.path.join(log_dir, f"keyboard_server_node_{timestamp}.log")
-        keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Client' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- "
+        keyboard_log = os.path.join(log_dir, f"cl_keyboard_{timestamp}.log")
+        keyboard_prefix = f'konsole --hold -p tabtitle="Keyboard Server" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {keyboard_log}; exec bash\' -- '
     else:
-        keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Client' -e"
-
-    return LaunchDescription(
-        [
-            Node(
-                package="sm_multi_stage_1",
-                executable="sm_multi_stage_1_node",
-                name="sm_multi_stage_1",
-                output="screen",
-                prefix=state_machine_prefix,
-            ),
-            Node(
-                package="cl_keyboard",
-                executable="keyboard_server_node.py",
-                name="keyboard_server_node",
-                output="screen",
-                prefix=keyboard_prefix,
-            ),
-        ]
+        keyboard_prefix = 'konsole --hold -p tabtitle="Keyboard Server" -e'
+
+    keyboard_server_node = Node(
+        package="cl_keyboard",
+        executable="keyboard_server_node.py",
+        name="keyboard_server_node",
+        output="screen",
+        prefix=keyboard_prefix,
+        arguments=["--ros-args", "--log-level", "INFO"],
     )
+
+    nodes_to_start = [
+        sm_multi_stage_1_node,
+        keyboard_server_node,
+    ]
+
+    return nodes_to_start
diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/README.md b/smacc2_sm_reference_library/sm_multithread_test_1/README.md
index f016d891a..6dd1e5a83 100644
--- a/smacc2_sm_reference_library/sm_multithread_test_1/README.md
+++ b/smacc2_sm_reference_library/sm_multithread_test_1/README.md
@@ -46,14 +46,14 @@ colcon build --packages-select sm_multithread_test_1
 source install/setup.bash
 
 # Launch multi-threaded version
-ros2 launch sm_multithread_test_1 sm_multithread_test_1.launch.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1.py
 ```
 
 ### Run Single-threaded Version (For Comparison)
 
 ```bash
 # Launch single-threaded version
-ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.launch.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.py
 ```
 
 The state machine runs for **15 seconds** then enters a terminal state. Press `Ctrl+C` to exit.
@@ -366,10 +366,10 @@ source install/setup.bash
 
 ```bash
 # Multi-threaded version (main demonstration)
-ros2 launch sm_multithread_test_1 sm_multithread_test_1.launch.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1.py
 
 # Single-threaded version (for comparison)
-ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.launch.py
+ros2 launch sm_multithread_test_1 sm_multithread_test_1_single.py
 ```
 
 ---
diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1.launch.py b/smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1.py
similarity index 100%
rename from smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1.launch.py
rename to smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1.py
diff --git a/smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1_single.launch.py b/smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1_single.py
similarity index 100%
rename from smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1_single.launch.py
rename to smacc2_sm_reference_library/sm_multithread_test_1/launch/sm_multithread_test_1_single.py
diff --git a/smacc2_sm_reference_library/sm_pack_ml/README.md b/smacc2_sm_reference_library/sm_pack_ml/README.md
index c077c0317..e5525b190 100644
--- a/smacc2_sm_reference_library/sm_pack_ml/README.md
+++ b/smacc2_sm_reference_library/sm_pack_ml/README.md
@@ -32,7 +32,7 @@ source install/setup.bash
 And then run the launch file...
 
 ```
-ros2 launch sm_pack_ml sm_pack_ml.launch
+ros2 launch sm_pack_ml sm_pack_ml.py
 ```
 
  <h2>Viewer Instructions</h2>
diff --git a/smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.launch b/smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.launch
deleted file mode 100644
index 44f73c8f0..000000000
--- a/smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-    <arg name="server_nodes_xterms" default="xterm -xrm 'XTerm*scrollBar:  true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e" />
-
-    <node pkg="sm_pack_ml" exec="sm_pack_ml_node" name="sm_pack_ml" launch-prefix="$(var server_nodes_xterms)" />
-    <node pkg="cl_keyboard" exec="keyboard_server_node.py" name="keyboard_server_node" launch-prefix="$(var server_nodes_xterms)"  />
-</launch>
diff --git a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py b/smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.py
similarity index 60%
rename from smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py
rename to smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.py
index b5d886fe5..09560b176 100644
--- a/smacc2_sm_reference_library/sm_multi_stage_1/launch/sm_multi_stage_1.launch.py
+++ b/smacc2_sm_reference_library/sm_pack_ml/launch/sm_pack_ml.py
@@ -15,7 +15,6 @@
 import os
 from datetime import datetime
 from launch import LaunchDescription
-from launch.actions import OpaqueFunction
 from launch_ros.actions import Node
 
 
@@ -27,7 +26,7 @@ def setup_log_directory():
     timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
 
     # Primary log directory location
-    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", timestamp)
+    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_pack_ml")
 
     try:
         os.makedirs(log_dir, mode=0o755, exist_ok=True)
@@ -35,7 +34,7 @@ def setup_log_directory():
         return log_dir, timestamp
     except PermissionError as e:
         # Fallback to /tmp if ~/.ros is not writable
-        fallback_dir = os.path.join("/tmp", "sm_multi_stage_1_logs", timestamp)
+        fallback_dir = os.path.join("/tmp", "sm_pack_ml_logs", timestamp)
         print(f"[Launch] WARNING: Cannot create log directory at {log_dir}")
         print(f"[Launch] Permission denied: {e}")
         print(f"[Launch] Using fallback directory: {fallback_dir}")
@@ -53,49 +52,38 @@ def setup_log_directory():
 
 
 def generate_launch_description():
-    return LaunchDescription([OpaqueFunction(function=launch_setup)])
-
-
-def launch_setup(context, *args, **kwargs):
-
     # Setup logging directory
     log_dir, timestamp = setup_log_directory()
 
     # Construct logging prefix for state machine node
     if log_dir:
         state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log")
-        state_machine_prefix = f'konsole --hold -p tabtitle="State Machine" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {state_machine_log}; exec bash\' -- '
+        state_machine_prefix = f"konsole --hold -p tabtitle='SM Pack ML' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
     else:
-        state_machine_prefix = 'konsole --hold -p tabtitle="State Machine" -e'
-
-    sm_multi_stage_1_node = Node(
-        package="sm_multi_stage_1",
-        executable="sm_multi_stage_1_node",
-        name="sm_multi_stage_1",
-        output="screen",
-        prefix=state_machine_prefix,
-        arguments=["--ros-args", "--log-level", "DEBUG"],
-    )
+        state_machine_prefix = "konsole --hold -p tabtitle='SM Pack ML' -e"
 
-    # Construct logging prefix for keyboard client node
+    # Construct logging prefix for keyboard server node
     if log_dir:
-        keyboard_log = os.path.join(log_dir, f"cl_keyboard_{timestamp}.log")
-        keyboard_prefix = f'konsole --hold -p tabtitle="Keyboard Server" -e bash -c \'RCUTILS_COLORIZED_OUTPUT=1 "$@" 2>&1 | tee {keyboard_log}; exec bash\' -- '
+        keyboard_log = os.path.join(log_dir, f"keyboard_server_{timestamp}.log")
+        keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Server' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- "
     else:
-        keyboard_prefix = 'konsole --hold -p tabtitle="Keyboard Server" -e'
-
-    keyboard_server_node = Node(
-        package="cl_keyboard",
-        executable="keyboard_server_node.py",
-        name="keyboard_server_node",
-        output="screen",
-        prefix=keyboard_prefix,
-        arguments=["--ros-args", "--log-level", "INFO"],
+        keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Server' -e"
+
+    return LaunchDescription(
+        [
+            Node(
+                package="sm_pack_ml",
+                executable="sm_pack_ml_node",
+                name="sm_pack_ml",
+                output="screen",
+                prefix=state_machine_prefix,
+            ),
+            Node(
+                package="cl_keyboard",
+                executable="keyboard_server_node.py",
+                name="keyboard_server_node",
+                output="screen",
+                prefix=keyboard_prefix,
+            ),
+        ],
     )
-
-    nodes_to_start = [
-        sm_multi_stage_1_node,
-        keyboard_server_node,
-    ]
-
-    return nodes_to_start
diff --git a/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/README.md b/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/README.md
index b4c4eb639..b3bb5bdd3 100644
--- a/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/README.md
+++ b/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/README.md
@@ -27,7 +27,7 @@ source install/setup.bash
 And then run the launch file...
 
 ```
-ros2 launch sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory.launch.py
+ros2 launch sm_panda_cl_moveit2z_cb_inventory sm_panda_cl_moveit2z_cb_inventory.py
 ```
 
 
diff --git a/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/launch/sm_panda_cl_moveit2z_cb_inventory.launch.py b/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/launch/sm_panda_cl_moveit2z_cb_inventory.py
similarity index 100%
rename from smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/launch/sm_panda_cl_moveit2z_cb_inventory.launch.py
rename to smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/launch/sm_panda_cl_moveit2z_cb_inventory.py
diff --git a/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/package.xml b/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/package.xml
index 8016b4d15..6913d36a2 100644
--- a/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/package.xml
+++ b/smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/package.xml
@@ -4,9 +4,8 @@
   <name>sm_panda_cl_moveit2z_cb_inventory</name>
   <version>3.0.1</version>
   <description>The sm_panda_cl_moveit2z_cb_inventory package</description>
-  <maintainer email="smacc2@smacc2.cool">SMACC2 is cool</maintainer>
+  <maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
   <license>Apache-2.0</license>
-  <license>MyLicense</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -31,8 +30,8 @@
   <depend>rclcpp</depend>
   <depend>yaml-cpp</depend>
 
-
   <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>konsole</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/smacc2_sm_reference_library/sm_three_some/README.md b/smacc2_sm_reference_library/sm_three_some/README.md
index 435c1a2b6..49c9b01b2 100644
--- a/smacc2_sm_reference_library/sm_three_some/README.md
+++ b/smacc2_sm_reference_library/sm_three_some/README.md
@@ -30,10 +30,9 @@ source install/setup.bash
 ```
 
 And then run the launch file...
-! refactor state machine name
 
 ```
-ros2 launch sm_three_some sm_three_some.launch
+ros2 launch sm_three_some sm_three_some.py
 ```
 
  <h2>Viewer Instructions</h2>
diff --git a/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.launch b/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.launch
deleted file mode 100644
index 3c2a2e794..000000000
--- a/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-    <arg name="server_nodes_xterms" default="xterm -xrm 'XTerm*scrollBar:  true' -xrm 'xterm*rightScrollBar: true' -hold -sl 10000 -e" />
-    <node pkg="sm_three_some" exec="sm_three_some_node" name="sm_three_some" launch-prefix="$(var server_nodes_xterms)" />
-    <node pkg="cl_keyboard" exec="keyboard_server_node.py" name="keyboard_server_node" launch-prefix="$(var server_nodes_xterms)" />
-</launch>
diff --git a/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.py b/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.py
new file mode 100644
index 000000000..264c08e8f
--- /dev/null
+++ b/smacc2_sm_reference_library/sm_three_some/launch/sm_three_some.py
@@ -0,0 +1,89 @@
+# Copyright 2021 RobosoftAI Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from datetime import datetime
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def setup_log_directory():
+    """
+    Creates timestamped log directory with error handling.
+    Returns: (log_dir_path, timestamp) tuple
+    """
+    timestamp = datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
+
+    # Primary log directory location
+    log_dir = os.path.join(os.path.expanduser("~"), ".ros", "log", f"{timestamp}-sm_three_some")
+
+    try:
+        os.makedirs(log_dir, mode=0o755, exist_ok=True)
+        print(f"[Launch] Log directory created: {log_dir}")
+        return log_dir, timestamp
+    except PermissionError as e:
+        # Fallback to /tmp if ~/.ros is not writable
+        fallback_dir = os.path.join("/tmp", "sm_three_some_logs", timestamp)
+        print(f"[Launch] WARNING: Cannot create log directory at {log_dir}")
+        print(f"[Launch] Permission denied: {e}")
+        print(f"[Launch] Using fallback directory: {fallback_dir}")
+        try:
+            os.makedirs(fallback_dir, mode=0o755, exist_ok=True)
+            return fallback_dir, timestamp
+        except Exception as fallback_error:
+            print(f"[Launch] ERROR: Cannot create fallback directory: {fallback_error}")
+            print(f"[Launch] Logs will only be displayed in konsole terminals")
+            return None, timestamp
+    except OSError as e:
+        print(f"[Launch] ERROR: Failed to create log directory: {e}")
+        print(f"[Launch] Logs will only be displayed in konsole terminals")
+        return None, timestamp
+
+
+def generate_launch_description():
+    # Setup logging directory
+    log_dir, timestamp = setup_log_directory()
+
+    # Construct logging prefix for state machine node
+    if log_dir:
+        state_machine_log = os.path.join(log_dir, f"state_machine_{timestamp}.log")
+        state_machine_prefix = f"konsole --hold -p tabtitle='SM Three Some' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {state_machine_log}; exec bash' -- "
+    else:
+        state_machine_prefix = "konsole --hold -p tabtitle='SM Three Some' -e"
+
+    # Construct logging prefix for keyboard server node
+    if log_dir:
+        keyboard_log = os.path.join(log_dir, f"keyboard_server_{timestamp}.log")
+        keyboard_prefix = f"konsole --hold -p tabtitle='Keyboard Server' -e bash -c 'RCUTILS_COLORIZED_OUTPUT=1 \"$@\" 2>&1 | tee {keyboard_log}; exec bash' -- "
+    else:
+        keyboard_prefix = "konsole --hold -p tabtitle='Keyboard Server' -e"
+
+    return LaunchDescription(
+        [
+            Node(
+                package="sm_three_some",
+                executable="sm_three_some_node",
+                name="sm_three_some",
+                output="screen",
+                prefix=state_machine_prefix,
+            ),
+            Node(
+                package="cl_keyboard",
+                executable="keyboard_server_node.py",
+                name="keyboard_server_node",
+                output="screen",
+                prefix=keyboard_prefix,
+            ),
+        ],
+    )