Refactor for the future.
Refactor for the future.

JustBenj/riptide_software,tsender/riptide_software,dmae1600/riptide-ros,tsender/riptide_software,tsender/riptide_software,tsender/riptide_software,JustBenj/riptide_software,dmae1600/riptide-ros,osu-uwrt/riptide-ros,osu-uwrt/riptide-ros,JustBenj/riptide_software,JustBenj/riptide_software,dmae1600/riptide-ros,dmae1600/riptide-ros