diff --git a/CMakeLists.txt b/CMakeLists.txt
index b4e6cf1..d2f8129 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(serial REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(controller_manager REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(pluginlib REQUIRED)
 
 
@@ -36,6 +37,7 @@ ament_target_dependencies(
   controller_manager
   serial
   rclcpp
+  rclcpp_lifecycle
   pluginlib
 )
 
@@ -56,6 +58,7 @@ ament_target_dependencies(
   hardware_interface
   controller_manager
   rclcpp
+  rclcpp_lifecycle
   pluginlib
 )
 
@@ -87,6 +90,7 @@ ament_export_dependencies(
   controller_manager
   serial
   rclcpp
+  rclcpp_lifecycle
   pluginlib
 )
 
diff --git a/include/diffdrive_arduino/diffdrive_arduino.h b/include/diffdrive_arduino/diffdrive_arduino.h
index 296f708..313b994 100644
--- a/include/diffdrive_arduino/diffdrive_arduino.h
+++ b/include/diffdrive_arduino/diffdrive_arduino.h
@@ -3,13 +3,13 @@
 
 #include <cstring>
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 
 #include "config.h"
 #include "wheel.h"
@@ -17,27 +17,28 @@
 
 
 using hardware_interface::return_type;
+using hardware_interface::CallbackReturn;
 
-class DiffDriveArduino : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class DiffDriveArduino : public hardware_interface::SystemInterface
 {
 
 
 public:
   DiffDriveArduino();
 
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type read() override;
+  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  return_type write() override;
+  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 
 
diff --git a/include/diffdrive_arduino/fake_robot.h b/include/diffdrive_arduino/fake_robot.h
index 3f2e355..b07f7fc 100644
--- a/include/diffdrive_arduino/fake_robot.h
+++ b/include/diffdrive_arduino/fake_robot.h
@@ -3,39 +3,41 @@
 
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 
 #include "config.h"
 #include "wheel.h"
 
 using hardware_interface::return_type;
+using hardware_interface::CallbackReturn;
 
-class FakeRobot : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class FakeRobot : public hardware_interface::SystemInterface
 {
 
 
 public:
+  using rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   FakeRobot();
 
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type read() override;
+  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  return_type write() override;
+  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 
 
diff --git a/package.xml b/package.xml
index 1bddcbf..5144199 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>diffdrive_arduino</name>
-  <version>0.0.1</version>
+  <version>1.0.0</version>
   <description>Provides an interface between diff_drive_controller and an Arduino.</description>
 
   <maintainer email="josh.newans@gmail.com">Josh Newans</maintainer>
@@ -21,6 +21,7 @@
   <depend>controller_manager</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>serial</depend>
 
 
diff --git a/src/diffdrive_arduino.cpp b/src/diffdrive_arduino.cpp
index 701c48a..f3c5069 100644
--- a/src/diffdrive_arduino.cpp
+++ b/src/diffdrive_arduino.cpp
@@ -14,10 +14,10 @@ DiffDriveArduino::DiffDriveArduino()
 
 
 
-return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo & info)
+CallbackReturn DiffDriveArduino::on_init(const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != return_type::OK) {
-    return return_type::ERROR;
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
+    return CallbackReturn::ERROR;
   }
 
   RCLCPP_INFO(logger_, "Configuring...");
@@ -41,8 +41,7 @@ return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo &
 
   RCLCPP_INFO(logger_, "Finished Configuration");
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> DiffDriveArduino::export_state_interfaces()
@@ -72,7 +71,7 @@ std::vector<hardware_interface::CommandInterface> DiffDriveArduino::export_comma
 }
 
 
-return_type DiffDriveArduino::start()
+CallbackReturn DiffDriveArduino::on_activate(const rclcpp_lifecycle::State & previous_state)
 {
   RCLCPP_INFO(logger_, "Starting Controller...");
 
@@ -81,20 +80,17 @@ return_type DiffDriveArduino::start()
   // arduino.setPidValues(14,7,0,100);
   arduino_.setPidValues(30, 20, 0, 100);
 
-  status_ = hardware_interface::status::STARTED;
-
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-return_type DiffDriveArduino::stop()
+CallbackReturn DiffDriveArduino::on_deactivate(const rclcpp_lifecycle::State & previous_state)
 {
   RCLCPP_INFO(logger_, "Stopping Controller...");
-  status_ = hardware_interface::status::STOPPED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type DiffDriveArduino::read()
+hardware_interface::return_type DiffDriveArduino::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
 
   // TODO fix chrono duration
@@ -128,7 +124,7 @@ hardware_interface::return_type DiffDriveArduino::read()
   
 }
 
-hardware_interface::return_type DiffDriveArduino::write()
+hardware_interface::return_type DiffDriveArduino::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
 
   if (!arduino_.connected())
diff --git a/src/fake_robot.cpp b/src/fake_robot.cpp
index 9208f9f..1a14492 100644
--- a/src/fake_robot.cpp
+++ b/src/fake_robot.cpp
@@ -10,10 +10,10 @@ FakeRobot::FakeRobot()
 
 
 
-return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
+CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != return_type::OK) {
-    return return_type::ERROR;
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS){
+    return CallbackReturn::ERROR;
   }
 
   RCLCPP_INFO(logger_, "Configuring...");
@@ -33,8 +33,7 @@ return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
 
   RCLCPP_INFO(logger_, "Finished Configuration");
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> FakeRobot::export_state_interfaces()
@@ -64,23 +63,21 @@ std::vector<hardware_interface::CommandInterface> FakeRobot::export_command_inte
 }
 
 
-return_type FakeRobot::start()
+CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & previous_state)
 {
   RCLCPP_INFO(logger_, "Starting Controller...");
-  status_ = hardware_interface::status::STARTED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-return_type FakeRobot::stop()
+CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & previous_state)
 {
   RCLCPP_INFO(logger_, "Stopping Controller...");
-  status_ = hardware_interface::status::STOPPED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type FakeRobot::read()
+hardware_interface::return_type FakeRobot::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
 
   // TODO fix chrono duration
@@ -101,7 +98,7 @@ hardware_interface::return_type FakeRobot::read()
   
 }
 
-hardware_interface::return_type FakeRobot::write()
+hardware_interface::return_type FakeRobot::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
 
   // Set the wheel velocities to directly match what is commanded