Developed a wheel-speed-driven motor command publishing feature for the MARS-UVA/mars-jetson repository, focusing on enhancing real-time control responsiveness in robotics applications. Leveraging ROS 2 and Python, the work introduced a modular MotorChanges publisher and established a foundation for converting wheel speed signals into actionable motor queries. The implementation prioritized a testable architecture, supporting future integration with high-level navigation and control loops. While no bugs were addressed during this period, the primary focus was on delivering new functionality and laying groundwork for subsequent validation. This approach improved the feedback loop between wheel velocity inputs and actuator commands, supporting robust robotic control.