In future generations of the Campus Rover, we recommend starting where we finished. With a robust, scaleable node framework, implementing new features would not only be faster and easier, but the nodes will also be able to be implemented with customized standardized guidelines that will gurantee consistency throughout the architecture. For example, with the introduction of states, we had hoped to better organize the robot by its current objective (i.e. navigating, teleoping, etc). However, since many of our existing functionalities were already built, we ran into problems refactoring them to reflect and operate under states.