diff --git a/CMakeLists.txt b/CMakeLists.txt
index c60db111..a23640b2 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -150,36 +150,37 @@ endif()
 ## Link Libraries to Executable
 target_link_libraries(${EXE_NAME} PRIVATE   Threads::Threads
 												Eigen3::Eigen
+                                                RoveComm_CPP
                                                 quill::quill
 												${OpenCV_LIBS}
                                                 ${GeographicLib_LIBRARIES}
                                                 ${ZED_LIBS} 
-                                                RoveComm_CPP
     )
 
 ## Package Executable
-install(TARGETS ${EXE_NAME} RUNTIME_DEPENDENCIES DIRECTORIES ${OpenCV_LIBS} ${GeographicLib_LIBRARIES} ${ZED_LIBS} quill::quill RoveComm_CPP RUNTIME DESTINATION bin)
+install(TARGETS ${EXE_NAME} RUNTIME_DEPENDENCIES DIRECTORIES RoveComm_CPP ${OpenCV_LIBS} ${GeographicLib_LIBRARIES} ${ZED_LIBS} quill::quill RUNTIME DESTINATION bin)
 
 ## Unit/Integration Tests
 file(GLOB_RECURSE UnitTests_SRC         CONFIGURE_DEPENDS  "tests/Unit/*.cc")
 file(GLOB_RECURSE IntegrationTests_SRC  CONFIGURE_DEPENDS  "tests/Integration/*.cc")
 file(GLOB_RECURSE Algorithms_SRC        CONFIGURE_DEPENDS  "src/algorithms/*.cpp")
-file(GLOB Logging_SRC			  	    CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
+file(GLOB         Network_SRC			CONFIGURE_DEPENDS  "src/AutonomyNetworking.cpp")
+file(GLOB         Logging_SRC			CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
 
 list(LENGTH UnitTests_SRC           UnitTests_LEN)
 list(LENGTH IntegrationTests_SRC    IntegrationTests_LEN)
 
 if (UnitTests_LEN GREATER 0)
-    add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Logging_SRC})
-    target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
+    add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Network_SRC} ${Logging_SRC})
+    target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main RoveComm_CPP quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
     add_test(Unit_Tests ${EXE_NAME}_UnitTests)
 else()
     message("No Unit Tests!")
 endif()
 
 if (IntegrationTests_LEN GREATER 0)
-    add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Logging_SRC})
-    target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
+    add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Network_SRC} ${Logging_SRC})
+    target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main RoveComm_CPP quill::quill ${OpenCV_LIBS} ${GeographicLib_LIBRARIES})
     add_test(Integration_Tests ${EXE_NAME}_IntegrationTests)
 else()
     message("No Integration Tests!")
diff --git a/data/Custom_Dictionaries/Autonomy-Dictionary.txt b/data/Custom_Dictionaries/Autonomy-Dictionary.txt
index d199e194..93fedef4 100644
--- a/data/Custom_Dictionaries/Autonomy-Dictionary.txt
+++ b/data/Custom_Dictionaries/Autonomy-Dictionary.txt
@@ -30,6 +30,7 @@ Contoller
 cpptools
 cschlosser
 CUDA
+CURRENTLOG
 CURRENTSTATE
 deadband
 debfile
diff --git a/src/AutonomyGlobals.cpp b/src/AutonomyGlobals.cpp
index a152ca1f..be6d557b 100644
--- a/src/AutonomyGlobals.cpp
+++ b/src/AutonomyGlobals.cpp
@@ -43,8 +43,4 @@ namespace globals
     DriveBoard* g_pDriveBoard;
     MultimediaBoard* g_pMultimediaBoard;
     NavigationBoard* g_pNavigationBoard;
-
-    // RoveComm Instances:
-    rovecomm::RoveCommUDP* g_pRoveCommUDPNode;
-    rovecomm::RoveCommTCP* g_pRoveCommTCPNode;
 }    // namespace globals
diff --git a/src/AutonomyGlobals.h b/src/AutonomyGlobals.h
index 53f10931..3a9bb403 100644
--- a/src/AutonomyGlobals.h
+++ b/src/AutonomyGlobals.h
@@ -21,7 +21,6 @@
 #include "handlers/WaypointHandler.h"
 
 /// \cond
-#include <RoveComm/RoveComm.h>
 #include <chrono>
 #include <ctime>
 #include <iostream>
@@ -60,10 +59,6 @@ namespace globals
     extern DriveBoard* g_pDriveBoard;              // Global Drive Board Driver
     extern MultimediaBoard* g_pMultimediaBoard;    // Global Multimedia Board Driver
     extern NavigationBoard* g_pNavigationBoard;    // Global Navigation Board Driver
-
-    // RoveComm Instances:
-    extern rovecomm::RoveCommUDP* g_pRoveCommUDPNode;    // Global RoveComm UDP Instance.
-    extern rovecomm::RoveCommTCP* g_pRoveCommTCPNode;    // Global RoveComm TCP Instance.
 }    // namespace globals
 
 #endif    // AUTONOMY_GLOBALS_H
diff --git a/src/AutonomyLogging.cpp b/src/AutonomyLogging.cpp
index 473a9dcc..576c22f6 100644
--- a/src/AutonomyLogging.cpp
+++ b/src/AutonomyLogging.cpp
@@ -9,8 +9,11 @@
  ******************************************************************************/
 
 #include "AutonomyLogging.h"
+#include "AutonomyNetworking.h"
 
 /// \cond
+#include <RoveComm/RoveComm.h>
+#include <RoveComm/RoveCommManifest.h>
 #include <iostream>
 
 /// \endcond
@@ -30,6 +33,7 @@ namespace logging
     /////////////////////////////////////////
     quill::Logger* g_qFileLogger;
     quill::Logger* g_qConsoleLogger;
+    quill::Logger* g_qRoveCommLogger;
     quill::Logger* g_qSharedLogger;
     std::string g_szProgramStartTimeString;
 
@@ -82,17 +86,22 @@ namespace logging
         std::filesystem::path szFullOutputPath = szFilePath / szFilenameWithExtension;
 
         // Create Handlers
-        std::shared_ptr<quill::Handler> qFileHandler    = quill::rotating_file_handler(szFullOutputPath);
-        std::shared_ptr<quill::Handler> qConsoleHandler = quill::stdout_handler();
+        std::shared_ptr<quill::Handler> qFileHandler     = quill::rotating_file_handler(szFullOutputPath);
+        std::shared_ptr<quill::Handler> qConsoleHandler  = quill::stdout_handler();
+        std::shared_ptr<quill::Handler> qRoveCommHandler = quill::create_handler<RoveCommHandler>("RoveCommHandler");
 
         // Configure Patterns
-        qFileHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)",       // format
-                                  "%Y-%m-%d %H:%M:%S.%Qms",                                                           // timestamp format
-                                  quill::Timezone::GmtTime);                                                          // timestamp's timezone
+        qFileHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)",        // format
+                                  "%Y-%m-%d %H:%M:%S.%Qms",                                                            // timestamp format
+                                  quill::Timezone::GmtTime);                                                           // timestamp's timezone
 
-        qConsoleHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)",    // format
-                                     "%Y-%m-%d %H:%M:%S.%Qms",                                                        // timestamp format
-                                     quill::Timezone::GmtTime);                                                       // timestamp's timezone
+        qConsoleHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)",     // format
+                                     "%Y-%m-%d %H:%M:%S.%Qms",                                                         // timestamp format
+                                     quill::Timezone::GmtTime);                                                        // timestamp's timezone
+
+        qRoveCommHandler->set_pattern("%(ascii_time) %(level_name) [%(thread)] [%(filename):%(lineno)] %(message)",    // format
+                                      "%Y-%m-%d %H:%M:%S.%Qms",                                                        // timestamp format
+                                      quill::Timezone::GmtTime);                                                       // timestamp's timezone
 
         // Enable Color Console
         static_cast<quill::ConsoleHandler*>(qConsoleHandler.get())->enable_console_colours();
@@ -109,20 +118,52 @@ namespace logging
         // Set Handler Filters
         qFileHandler->add_filter(std::make_unique<LoggingFilter>("FileFilter", quill::LogLevel::TraceL3));
         qConsoleHandler->add_filter(std::make_unique<LoggingFilter>("ConsoleFilter", quill::LogLevel::Info));
+        qRoveCommHandler->add_filter(std::make_unique<LoggingFilter>("RoveCommFilter", quill::LogLevel::Info));
 
         // Create Loggers
-        g_qFileLogger    = quill::create_logger("FILE_LOGGER", {qFileHandler});
-        g_qConsoleLogger = quill::create_logger("CONSOLE_LOGGER", {qConsoleHandler});
-        g_qSharedLogger  = quill::create_logger("SHARED_LOGGER", {qFileHandler, qConsoleHandler});
+        g_qFileLogger     = quill::create_logger("FILE_LOGGER", {qFileHandler});
+        g_qConsoleLogger  = quill::create_logger("CONSOLE_LOGGER", {qConsoleHandler});
+        g_qRoveCommLogger = quill::create_logger("ROVECOMM_LOGGER", {qRoveCommHandler});
+        g_qSharedLogger   = quill::create_logger("SHARED_LOGGER", {qFileHandler, qConsoleHandler, qRoveCommHandler});
 
         // Set Base Logging Levels
-        g_qSharedLogger->set_log_level(quill::LogLevel::TraceL3);
         g_qFileLogger->set_log_level(quill::LogLevel::TraceL3);
         g_qConsoleLogger->set_log_level(quill::LogLevel::TraceL3);
+        g_qRoveCommLogger->set_log_level(quill::LogLevel::TraceL3);
+        g_qSharedLogger->set_log_level(quill::LogLevel::TraceL3);
 
         // Enable Backtrace
         g_qFileLogger->init_backtrace(2, quill::LogLevel::Critical);
         g_qConsoleLogger->init_backtrace(2, quill::LogLevel::Critical);
+        g_qRoveCommLogger->init_backtrace(2, quill::LogLevel::Critical);
         g_qSharedLogger->init_backtrace(2, quill::LogLevel::Critical);
     }
+
+    /******************************************************************************
+     * @brief This method should never be called by this codebase, it is called
+     *        internally by the quill library.
+     *
+     * @author Eli Byrd (edbgkk@mst.edu)
+     * @date 2024-03-17
+     ******************************************************************************/
+    void RoveCommHandler::write(quill::fmt_buffer_t const& formatted_log_message, quill::TransitEvent const& log_event)
+    {
+        // Not using these.
+        (void) log_event;
+
+        std::string szTemp{formatted_log_message.data(), formatted_log_message.size()};
+
+        // Construct a RoveComm packet with the logging data.
+        rovecomm::RoveCommPacket<char> stPacket;
+        stPacket.unDataId    = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_ID;
+        stPacket.unDataCount = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_COUNT;
+        stPacket.eDataType   = manifest::Autonomy::TELEMETRY.find("CURRENTLOG")->second.DATA_TYPE;
+        stPacket.vData       = StringToVector({formatted_log_message.data(), formatted_log_message.size()});
+
+        // Send log command over RoveComm to BaseStation.
+        if (network::g_bRoveCommUDPStatus && network::g_bRoveCommTCPStatus)
+        {
+            network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, "0.0.0.0", constants::ROVECOMM_OUTGOING_UDP_PORT);
+        }
+    }
 }    // namespace logging
diff --git a/src/AutonomyLogging.h b/src/AutonomyLogging.h
index 533a7a5c..2bc2c1c7 100644
--- a/src/AutonomyLogging.h
+++ b/src/AutonomyLogging.h
@@ -18,6 +18,8 @@
 #include <quill/Quill.h>
 /// \endcond
 
+#include "./AutonomyConstants.h"
+
 #ifndef AUTONOMY_LOGGING_H
 #define AUTONOMY_LOGGING_H
 
@@ -56,6 +58,7 @@ namespace logging
     extern quill::Logger* g_qFileLogger;
     extern quill::Logger* g_qConsoleLogger;
     extern quill::Logger* g_qSharedLogger;
+    extern quill::Logger* g_qRoveCommLogger;
     extern std::string g_szProgramStartTimeString;
 
     /////////////////////////////////////////
@@ -122,5 +125,79 @@ namespace logging
             }
     };
 
+    /////////////////////////////////////////
+    // Define namespace custom handler
+    /////////////////////////////////////////
+
+    /******************************************************************************
+     * @brief This class serves as a container class for a custom logger type
+     *        defined to send logging messages over RoveComm from Autonomy.
+     *
+     * @author Eli Byrd (edbgkk@mst.edu)
+     * @date 2024-03-17
+     ******************************************************************************/
+    class RoveCommHandler : public quill::Handler
+    {
+        private:
+            /******************************************************************************
+             * @brief A utility function to convert a string to a vector that is no longer
+             *        than 255 characters long.
+             *
+             * @param szString - The string to convert
+             * @return std::vector<char> - The string shown as a vector of characters.
+             *
+             * @author Eli Byrd (edbgkk@mst.edu)
+             * @date 2024-03-17
+             ******************************************************************************/
+            std::vector<char> StringToVector(const std::string& szString)
+            {
+                std::vector<char> result;
+                int length = std::min(static_cast<int>(szString.length()), 255);
+                result.reserve(length);
+
+                for (int i = 0; i < length; ++i)
+                {
+                    result.push_back(szString[i]);
+                }
+
+                return result;
+            }
+
+        public:
+            /******************************************************************************
+             * @brief Construct a new RoveCommHandler object.
+             *
+             * @author Eli Byrd (edbgkk@mst.edu)
+             * @date 2024-03-17
+             ******************************************************************************/
+            RoveCommHandler() = default;
+
+            /******************************************************************************
+             * @brief Destroy the RoveCommHandler object.
+             *
+             * @author Eli Byrd (edbgkk@mst.edu)
+             * @date 2024-03-17
+             ******************************************************************************/
+            ~RoveCommHandler() override = default;
+
+            /******************************************************************************
+             * @brief This method should never be called by this codebase, it is called
+             *        internally by the quill library.
+             *
+             * @author Eli Byrd (edbgkk@mst.edu)
+             * @date 2024-03-17
+             ******************************************************************************/
+            void write(quill::fmt_buffer_t const& formatted_log_message, quill::TransitEvent const& log_event) override;
+
+            /******************************************************************************
+             * @brief This method should never be called by this codebase, it is called
+             *        internally by the quill library.
+             *
+             * @author Eli Byrd (edbgkk@mst.edu)
+             * @date 2024-03-17
+             ******************************************************************************/
+            void flush() noexcept override {}
+    };
+
 }    // namespace logging
 #endif    // AUTONOMY_LOGGING_H
diff --git a/src/AutonomyNetworking.cpp b/src/AutonomyNetworking.cpp
new file mode 100644
index 00000000..ea1633f1
--- /dev/null
+++ b/src/AutonomyNetworking.cpp
@@ -0,0 +1,41 @@
+/******************************************************************************
+ * @brief Defines functions and objects used for Autonomy Networking
+ *
+ * @file AutonomyNetworking.cpp
+ * @author Eli Byrd (edbgkk@mst.edu), ClayJay3 (claytonraycowen@gmail.com)
+ * @date 2024-03-17
+ *
+ * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved
+ ******************************************************************************/
+
+#include "AutonomyNetworking.h"
+
+/******************************************************************************
+ * @brief Defines functions and objects used for Autonomy Networking
+ *
+ * @file AutonomyNetworking.cpp
+ * @author Eli Byrd (edbgkk@mst.edu), ClayJay3 (claytonraycowen@gmail.com)
+ * @date 2024-03-17
+ *
+ * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved
+ ******************************************************************************/
+
+#include "AutonomyNetworking.h"
+
+/******************************************************************************
+ * @brief Namespace containing all networking types/structs that will be used
+ *        project wide.
+ *
+ * @author Eli Byrd (edbgkk@mst.edu)
+ * @date 2024-03-17
+ ******************************************************************************/
+namespace network
+{
+    // RoveComm Instances:
+    rovecomm::RoveCommUDP* g_pRoveCommUDPNode;
+    rovecomm::RoveCommTCP* g_pRoveCommTCPNode;
+
+    // RoveComm Status:
+    bool g_bRoveCommUDPStatus = false;
+    bool g_bRoveCommTCPStatus = false;
+}    // namespace network
diff --git a/src/AutonomyNetworking.h b/src/AutonomyNetworking.h
new file mode 100644
index 00000000..647d473f
--- /dev/null
+++ b/src/AutonomyNetworking.h
@@ -0,0 +1,40 @@
+/******************************************************************************
+ * @brief Defines functions and objects used for Autonomy Networking
+ *
+ * @file AutonomyNetworking.h
+ * @author Eli Byrd (edbgkk@mst.edu), ClayJay3 (claytonraycowen@gmail.com)
+ * @date 2024-03-17
+ *
+ * @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved
+ ******************************************************************************/
+
+/// \cond
+#include <RoveComm/RoveComm.h>
+#include <chrono>
+#include <ctime>
+#include <iostream>
+
+/// \endcond
+
+#ifndef AUTONOMY_NETWORKING_H
+#define AUTONOMY_NETWORKING_H
+
+/******************************************************************************
+ * @brief Namespace containing all networking types/structs that will be used
+ *        project wide.
+ *
+ * @author Eli Byrd (edbgkk@mst.edu)
+ * @date 2024-03-17
+ ******************************************************************************/
+namespace network
+{
+    // RoveComm Instances:
+    extern rovecomm::RoveCommUDP* g_pRoveCommUDPNode;    // Global RoveComm UDP Instance.
+    extern rovecomm::RoveCommTCP* g_pRoveCommTCPNode;    // Global RoveComm TCP Instance.
+
+    // RoveComm Status:
+    extern bool g_bRoveCommUDPStatus;
+    extern bool g_bRoveCommTCPStatus;
+}    // namespace network
+
+#endif    // AUTONOMY_NETWORKING_H
diff --git a/src/drivers/DriveBoard.cpp b/src/drivers/DriveBoard.cpp
index c298df09..b4ff2fa5 100755
--- a/src/drivers/DriveBoard.cpp
+++ b/src/drivers/DriveBoard.cpp
@@ -14,6 +14,7 @@
 #include "../AutonomyConstants.h"
 #include "../AutonomyGlobals.h"
 #include "../AutonomyLogging.h"
+#include "../AutonomyNetworking.h"
 
 /// \cond
 #include <RoveComm/RoveCommManifest.h>
@@ -46,7 +47,7 @@ DriveBoard::DriveBoard()
     m_pPID->EnableContinuousInput(0, 360);
 
     // Set RoveComm callbacks.
-    globals::g_pRoveCommUDPNode->AddUDPCallback<float>(SetMaxSpeedCallback, manifest::Autonomy::COMMANDS.find("SETMAXSPEED")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<float>(SetMaxSpeedCallback, manifest::Autonomy::COMMANDS.find("SETMAXSPEED")->second.DATA_ID);
 }
 
 /******************************************************************************
@@ -130,7 +131,7 @@ void DriveBoard::SendDrive(diffdrive::DrivePowers& stDrivePowers)
     // Check if we should send packets to the SIM or board.
     const char* cIPAddress = constants::MODE_SIM ? "127.0.0.1" : manifest::Core::IP_ADDRESS.IP_STR.c_str();
     // Send drive command over RoveComm to drive board.
-    globals::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
+    network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
 
     // Submit logger message.
     LOG_DEBUG(logging::g_qSharedLogger, "Driving at: ({}, {})", fDriveBoardLeftPower, fDriveBoardRightPower);
@@ -159,7 +160,7 @@ void DriveBoard::SendStop()
     // Check if we should send packets to the SIM or board.
     const char* cIPAddress = constants::MODE_SIM ? "127.0.0.1" : manifest::Core::IP_ADDRESS.IP_STR.c_str();
     // Send drive command over RoveComm to drive board.
-    globals::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
+    network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
 }
 
 /******************************************************************************
diff --git a/src/drivers/MultimediaBoard.cpp b/src/drivers/MultimediaBoard.cpp
index e04f60f7..6c69ccf3 100755
--- a/src/drivers/MultimediaBoard.cpp
+++ b/src/drivers/MultimediaBoard.cpp
@@ -10,6 +10,7 @@
 
 #include "MultimediaBoard.h"
 #include "../AutonomyGlobals.h"
+#include "../AutonomyNetworking.h"
 
 /// \cond
 #include <RoveComm/RoveCommManifest.h>
@@ -120,7 +121,7 @@ void MultimediaBoard::SendLightingState(MultimediaBoardLightingState eState)
     // Check if we should send packets to the SIM or board.
     const char* cIPAddress = constants::MODE_SIM ? "127.0.0.1" : manifest::Core::IP_ADDRESS.IP_STR.c_str();
     // Send multimedia board lighting state to board over RoveComm.
-    globals::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
+    network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
 }
 
 /******************************************************************************
@@ -149,7 +150,7 @@ void MultimediaBoard::SendRGB(RGB stRGBVal)
     // Check if we should send packets to the SIM or board.
     const char* cIPAddress = constants::MODE_SIM ? "127.0.0.1" : manifest::Core::IP_ADDRESS.IP_STR.c_str();
     // Send RGB values to multimedia board over RoveComm.
-    globals::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
+    network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, cIPAddress, constants::ROVECOMM_OUTGOING_UDP_PORT);
 }
 
 /******************************************************************************
diff --git a/src/drivers/NavigationBoard.cpp b/src/drivers/NavigationBoard.cpp
index f88d9104..5a713b08 100755
--- a/src/drivers/NavigationBoard.cpp
+++ b/src/drivers/NavigationBoard.cpp
@@ -11,6 +11,7 @@
 #include "NavigationBoard.h"
 #include "../AutonomyGlobals.h"
 #include "../AutonomyLogging.h"
+#include "../AutonomyNetworking.h"
 
 /// \cond
 // Put implicit #includes here.
@@ -32,12 +33,12 @@ NavigationBoard::NavigationBoard()
     stSubscribePacket.unDataCount = 0;
     stSubscribePacket.eDataType   = manifest::DataTypes::UINT8_T;
     stSubscribePacket.vData       = std::vector<uint8_t>{};
-    globals::g_pRoveCommUDPNode->SendUDPPacket(stSubscribePacket, manifest::Nav::IP_ADDRESS.IP_STR.c_str(), constants::ROVECOMM_OUTGOING_UDP_PORT);
+    network::g_pRoveCommUDPNode->SendUDPPacket(stSubscribePacket, manifest::Nav::IP_ADDRESS.IP_STR.c_str(), constants::ROVECOMM_OUTGOING_UDP_PORT);
 
     // Set RoveComm callbacks.
-    globals::g_pRoveCommUDPNode->AddUDPCallback<double>(ProcessGPSData, manifest::Nav::TELEMETRY.find("GPSLATLONALT")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<float>(ProcessAccuracyData, manifest::Nav::TELEMETRY.find("ACCURACYDATA")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<float>(ProcessCompassData, manifest::Nav::TELEMETRY.find("COMPASSDATA")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<double>(ProcessGPSData, manifest::Nav::TELEMETRY.find("GPSLATLONALT")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<float>(ProcessAccuracyData, manifest::Nav::TELEMETRY.find("ACCURACYDATA")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<float>(ProcessCompassData, manifest::Nav::TELEMETRY.find("COMPASSDATA")->second.DATA_ID);
 }
 
 /******************************************************************************
diff --git a/src/handlers/StateMachineHandler.cpp b/src/handlers/StateMachineHandler.cpp
index 43111d1a..3f06a5c4 100644
--- a/src/handlers/StateMachineHandler.cpp
+++ b/src/handlers/StateMachineHandler.cpp
@@ -12,6 +12,7 @@
 #include "../AutonomyConstants.h"
 #include "../AutonomyGlobals.h"
 #include "../AutonomyLogging.h"
+#include "../AutonomyNetworking.h"
 
 /******************************************************************************
  * @brief Construct a new State Machine Handler object.
@@ -25,8 +26,8 @@ StateMachineHandler::StateMachineHandler()
     LOG_INFO(logging::g_qSharedLogger, "Initializing State Machine.");
 
     // Set RoveComm Node callbacks.
-    globals::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(AutonomyStartCallback, manifest::Autonomy::COMMANDS.find("STARTAUTONOMY")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(AutonomyStopCallback, manifest::Autonomy::COMMANDS.find("DISABLEAUTONOMY")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(AutonomyStartCallback, manifest::Autonomy::COMMANDS.find("STARTAUTONOMY")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(AutonomyStopCallback, manifest::Autonomy::COMMANDS.find("DISABLEAUTONOMY")->second.DATA_ID);
 
     // State machine doesn't need to run at an unlimited speed. Cap main thread to a certain amount of iterations per second.
     this->SetMainThreadIPSLimit(constants::STATEMACHINE_MAX_IPS);
diff --git a/src/handlers/WaypointHandler.cpp b/src/handlers/WaypointHandler.cpp
index 50608e1c..567f4e06 100644
--- a/src/handlers/WaypointHandler.cpp
+++ b/src/handlers/WaypointHandler.cpp
@@ -10,6 +10,7 @@
 
 #include "WaypointHandler.h"
 #include "../AutonomyGlobals.h"
+#include "../AutonomyNetworking.h"
 
 /// \cond
 #include <algorithm>
@@ -26,10 +27,10 @@
 WaypointHandler::WaypointHandler()
 {
     // Set RoveComm callbacks.
-    globals::g_pRoveCommUDPNode->AddUDPCallback<double>(AddPositionLegCallback, manifest::Autonomy::COMMANDS.find("ADDPOSITIONLEG")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<double>(AddMarkerLegCallback, manifest::Autonomy::COMMANDS.find("ADDMARKERLEG")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<double>(AddObjectLegCallback, manifest::Autonomy::COMMANDS.find("ADDOBJECTLEG")->second.DATA_ID);
-    globals::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(ClearWaypointsCallback, manifest::Autonomy::COMMANDS.find("CLEARWAYPOINTS")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<double>(AddPositionLegCallback, manifest::Autonomy::COMMANDS.find("ADDPOSITIONLEG")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<double>(AddMarkerLegCallback, manifest::Autonomy::COMMANDS.find("ADDMARKERLEG")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<double>(AddObjectLegCallback, manifest::Autonomy::COMMANDS.find("ADDOBJECTLEG")->second.DATA_ID);
+    network::g_pRoveCommUDPNode->AddUDPCallback<uint8_t>(ClearWaypointsCallback, manifest::Autonomy::COMMANDS.find("CLEARWAYPOINTS")->second.DATA_ID);
 }
 
 /******************************************************************************
diff --git a/src/main.cpp b/src/main.cpp
index 99bbfa11..cdda3d22 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -10,6 +10,7 @@
 
 #include "./AutonomyGlobals.h"
 #include "./AutonomyLogging.h"
+#include "./AutonomyNetworking.h"
 
 // Check if any file from the example directory has been included.
 // If not included, define empty run example function and set bRunExampleFlag
@@ -108,19 +109,19 @@ int main()
         // Setup global objects.
         /////////////////////////////////////////
         // Initialize RoveComm.
-        globals::g_pRoveCommUDPNode = new rovecomm::RoveCommUDP();
-        globals::g_pRoveCommTCPNode = new rovecomm::RoveCommTCP();
+        network::g_pRoveCommUDPNode = new rovecomm::RoveCommUDP();
+        network::g_pRoveCommTCPNode = new rovecomm::RoveCommTCP();
         // Start RoveComm instances bound on ports.
-        bool bRoveCommUDPInitSuccess = globals::g_pRoveCommUDPNode->InitUDPSocket(manifest::General::ETHERNET_UDP_PORT);
-        bool bRoveCommTCPInitSuccess = globals::g_pRoveCommTCPNode->InitTCPSocket(constants::ROVECOMM_TCP_INTERFACE_IP.c_str(), manifest::General::ETHERNET_TCP_PORT);
+        network::g_bRoveCommUDPStatus = network::g_pRoveCommUDPNode->InitUDPSocket(manifest::General::ETHERNET_UDP_PORT);
+        network::g_bRoveCommTCPStatus = network::g_pRoveCommTCPNode->InitTCPSocket(constants::ROVECOMM_TCP_INTERFACE_IP.c_str(), manifest::General::ETHERNET_TCP_PORT);
         // Check if RoveComm was successfully initialized.
-        if (!bRoveCommUDPInitSuccess || !bRoveCommTCPInitSuccess)
+        if (!network::g_bRoveCommUDPStatus || !network::g_bRoveCommTCPStatus)
         {
             // Submit logger message.
             LOG_CRITICAL(logging::g_qSharedLogger,
                          "RoveComm did not initialize properly! UDPNode Status: {}, TCPNode Status: {}",
-                         bRoveCommUDPInitSuccess,
-                         bRoveCommTCPInitSuccess);
+                         network::g_bRoveCommUDPStatus,
+                         network::g_bRoveCommTCPStatus);
 
             // Since RoveComm is crucial, stop code.
             bMainStop = true;
@@ -178,7 +179,7 @@ int main()
             stPacket.eDataType   = manifest::Autonomy::TELEMETRY.find("CURRENTSTATE")->second.DATA_TYPE;
             stPacket.vData.emplace_back(static_cast<uint8_t>(globals::g_pStateMachineHandler->GetCurrentState()));
             // Send drive command over RoveComm to drive board to all subscribers.
-            globals::g_pRoveCommUDPNode->SendUDPPacket(stPacket, "0.0.0.0", constants::ROVECOMM_OUTGOING_UDP_PORT);
+            network::g_pRoveCommUDPNode->SendUDPPacket(stPacket, "0.0.0.0", constants::ROVECOMM_OUTGOING_UDP_PORT);
 
             // Create a string to append FPS values to.
             std::string szMainInfo = "";
@@ -192,8 +193,8 @@ int main()
             szMainInfo += "LeftDetector FPS: " + std::to_string(pLeftDetector->GetIPS().GetAverageIPS()) + "\n";
             szMainInfo += "RightDetector FPS: " + std::to_string(pRightDetector->GetIPS().GetAverageIPS()) + "\n";
             szMainInfo += "\nStateMachine FPS: " + std::to_string(globals::g_pStateMachineHandler->GetIPS().GetAverageIPS()) + "\n";
-            szMainInfo += "\nRoveCommUDP FPS: " + std::to_string(globals::g_pRoveCommTCPNode->GetIPS().GetAverageIPS()) + "\n";
-            szMainInfo += "RoveCommTCP FPS: " + std::to_string(globals::g_pRoveCommTCPNode->GetIPS().GetAverageIPS()) + "\n";
+            szMainInfo += "\nRoveCommUDP FPS: " + std::to_string(network::g_pRoveCommTCPNode->GetIPS().GetAverageIPS()) + "\n";
+            szMainInfo += "RoveCommTCP FPS: " + std::to_string(network::g_pRoveCommTCPNode->GetIPS().GetAverageIPS()) + "\n";
             szMainInfo += "\n--------[ State Machine Info ]--------\n";
             szMainInfo += "Current State: " + statemachine::StateToString(globals::g_pStateMachineHandler->GetCurrentState()) + "\n";
             szMainInfo += "\n--------[ Camera Info ]--------\n";
@@ -216,24 +217,24 @@ int main()
         globals::g_pStateMachineHandler->StopStateMachine();
         globals::g_pTagDetectionHandler->StopAllDetectors();
         globals::g_pCameraHandler->StopAllCameras();
-        globals::g_pRoveCommUDPNode->CloseUDPSocket();
-        globals::g_pRoveCommTCPNode->CloseTCPSocket();
+        network::g_pRoveCommUDPNode->CloseUDPSocket();
+        network::g_pRoveCommTCPNode->CloseTCPSocket();
 
         // Delete dynamically allocated objects.
         delete globals::g_pStateMachineHandler;
         delete globals::g_pTagDetectionHandler;
         delete globals::g_pCameraHandler;
         delete globals::g_pWaypointHandler;
-        delete globals::g_pRoveCommUDPNode;
-        delete globals::g_pRoveCommTCPNode;
+        delete network::g_pRoveCommUDPNode;
+        delete network::g_pRoveCommTCPNode;
 
         // Set dangling pointers to null.
         globals::g_pStateMachineHandler = nullptr;
         globals::g_pTagDetectionHandler = nullptr;
         globals::g_pCameraHandler       = nullptr;
         globals::g_pWaypointHandler     = nullptr;
-        globals::g_pRoveCommUDPNode     = nullptr;
-        globals::g_pRoveCommTCPNode     = nullptr;
+        network::g_pRoveCommUDPNode     = nullptr;
+        network::g_pRoveCommTCPNode     = nullptr;
     }
 
     // Submit logger message that program is done cleaning up and is now exiting.