diff --git a/march_launch/launch/march.launch b/march_launch/launch/march.launch
index 037c15429..159d9d81d 100644
--- a/march_launch/launch/march.launch
+++ b/march_launch/launch/march.launch
@@ -9,6 +9,7 @@
     <arg name="gazebo_ui" default="false" doc="Launches the Gazebo UI."/>
 
     <arg name="ground_gait" default="false" doc="Exoskeleton will ground gait in gazebo_ui if true."/>
+    <arg name="obstacle" default="none" doc="Obstacle to load in the simulation."/>
     <arg name="unpause" default="true" doc="Unpause simulation when controller starts."/>
     <arg name="fixed" default="true" doc="Fixes the exoskeleton in the world in rviz"/>
 
@@ -39,7 +40,7 @@
 
         <include file="$(find march_safety)/launch/march_safety.launch"/>
 
-        <include file="$(find march_sound_scheduler)/launch/march_sound_scheduler.launch"/>
+        <node name="sound_play" pkg="sound_play" type="soundplay_node.py"/>
 
         <include file="$(find march_gait_selection)/launch/march_gait_selection.launch">
             <arg name="gait_directory" value="$(arg gait_directory)"/>
@@ -63,6 +64,7 @@
             <arg name="gazebo_ui" value="$(eval not headless and gazebo_ui)"/>
             <arg name="fixed" value="$(arg fixed)"/>
             <arg name="ground_gait" value="$(arg ground_gait)"/>
+            <arg name="obstacle" value="$(arg obstacle)"/>
         </include>
     </group>
 
diff --git a/march_launch/launch/march_simulation.launch b/march_launch/launch/march_simulation.launch
index 7dda9820d..0633b54f7 100644
--- a/march_launch/launch/march_simulation.launch
+++ b/march_launch/launch/march_simulation.launch
@@ -6,6 +6,7 @@
     <arg name="unpause" default="$(eval not gazebo_ui)" doc="Unpause simulation when controller starts."/>
     <arg name="fixed" default="true" doc="Fixes the exoskeleton in the world"/>
     <arg name="ground_gait" default="false" doc="Exoskeleton will ground gait in simulation if true."/>
+    <arg name="obstacle" default="none" doc="Obstacle to load in the simulation."/>
     <arg name="gait_directory" default="training-v" doc="Gait files directory to use"/>
     <arg name="input-device" default="false" doc="Launches ros serial node to connect with input device."/>
 
diff --git a/march_launch/package.xml b/march_launch/package.xml
index 1977d96d0..d19d6c43e 100644
--- a/march_launch/package.xml
+++ b/march_launch/package.xml
@@ -20,7 +20,6 @@
     <exec_depend>march_gain_scheduling</exec_depend>
     <exec_depend>march_gait_selection</exec_depend>
     <exec_depend>march_safety</exec_depend>
-    <exec_depend>march_sound_scheduler</exec_depend>
     <exec_depend>march_state_machine</exec_depend>
     <exec_depend>xacro</exec_depend>
     <exec_depend>rosserial_python</exec_depend>
diff --git a/march_safety/CMakeLists.txt b/march_safety/CMakeLists.txt
index 1945f1c4a..71bb7e6f1 100644
--- a/march_safety/CMakeLists.txt
+++ b/march_safety/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
     march_shared_resources
     roscpp
     sensor_msgs
+    sound_play
     std_msgs
     urdf
 )
@@ -18,6 +19,7 @@ catkin_package(
     march_shared_resources
     roscpp
     sensor_msgs
+    sound_play
     std_msgs
     urdf
 )
@@ -47,7 +49,7 @@ install(TARGETS ${PROJECT_NAME}
 install(TARGETS ${PROJECT_NAME}_node
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-install(DIRECTORY launch
+install(DIRECTORY launch sound
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/march_safety/include/march_safety/input_device_safety.h b/march_safety/include/march_safety/input_device_safety.h
index 90e20e29c..177b74ba1 100644
--- a/march_safety/include/march_safety/input_device_safety.h
+++ b/march_safety/include/march_safety/input_device_safety.h
@@ -21,7 +21,6 @@ class InputDeviceSafety : public SafetyType
 private:
   void inputDeviceAliveCallback(const std_msgs::TimeConstPtr& msg);
 
-  ros::NodeHandle n_;
   SafetyHandler* safety_handler_;
   ros::Duration connection_timeout_;
   ros::Time time_last_alive_;
diff --git a/march_safety/include/march_safety/safety_handler.h b/march_safety/include/march_safety/safety_handler.h
index 19f866c9d..4e338d10a 100644
--- a/march_safety/include/march_safety/safety_handler.h
+++ b/march_safety/include/march_safety/safety_handler.h
@@ -4,31 +4,32 @@
 
 #include <string>
 #include <ros/ros.h>
+#include <sound_play/sound_play.h>
+
 #include <march_shared_resources/Error.h>
-#include <march_shared_resources/Sound.h>
 #include <march_shared_resources/GaitInstruction.h>
 
 class SafetyHandler
 {
 public:
-  SafetyHandler(ros::NodeHandle* n, ros::Publisher* error_publisher, ros::Publisher* sound_publisher,
-                ros::Publisher* gait_instruction_publisher);
+  SafetyHandler(ros::NodeHandle* n, ros::Publisher* error_publisher, ros::Publisher* gait_instruction_publisher,
+                sound_play::SoundClient& sound_client);
 
-  void publishFatal(std::string message);
+  void publishFatal(const std::string& message);
 
-  void publishNonFatal(std::string message);
+  void publishNonFatal(const std::string& message);
 
   void publishErrorMessage(const std::string& message, int8_t error_type) const;
 
   void publishStopMessage() const;
 
-  void publishErrorSound(int8_t error_type) const;
-
 private:
   ros::NodeHandle* n_;
   ros::Publisher* error_publisher_;
-  ros::Publisher* sound_publisher_;
   ros::Publisher* gait_instruction_publisher_;
+
+  sound_play::Sound fatal_sound_;
+  sound_play::Sound non_fatal_sound_;
 };
 
 #endif  // MARCH_SAFETY_SAFETY_HANDLER_H
diff --git a/march_safety/include/march_safety/temperature_safety.h b/march_safety/include/march_safety/temperature_safety.h
index 1604a2384..a537904db 100644
--- a/march_safety/include/march_safety/temperature_safety.h
+++ b/march_safety/include/march_safety/temperature_safety.h
@@ -10,7 +10,6 @@
 #include <sensor_msgs/Temperature.h>
 
 #include <march_shared_resources/Error.h>
-#include <march_shared_resources/Sound.h>
 
 #include "march_safety/safety_type.h"
 #include "march_safety/safety_handler.h"
diff --git a/march_safety/package.xml b/march_safety/package.xml
index 4ff656163..d8eda715d 100644
--- a/march_safety/package.xml
+++ b/march_safety/package.xml
@@ -16,6 +16,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>urdf</depend>
+  <depend>sound_play</depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>code_coverage</test_depend>
diff --git a/march_sound_scheduler/sound/fatal.wav b/march_safety/sound/fatal.wav
similarity index 100%
rename from march_sound_scheduler/sound/fatal.wav
rename to march_safety/sound/fatal.wav
diff --git a/march_sound_scheduler/sound/non-fatal.wav b/march_safety/sound/non_fatal.wav
similarity index 100%
rename from march_sound_scheduler/sound/non-fatal.wav
rename to march_safety/sound/non_fatal.wav
diff --git a/march_safety/src/input_device_safety.cpp b/march_safety/src/input_device_safety.cpp
index 9ff827c07..9ed84ec94 100644
--- a/march_safety/src/input_device_safety.cpp
+++ b/march_safety/src/input_device_safety.cpp
@@ -7,7 +7,7 @@ InputDeviceSafety::InputDeviceSafety(ros::NodeHandle* n, SafetyHandler* safety_h
 {
   int milliseconds;
   ros::param::get("~input_device_connection_timeout", milliseconds);
-  double send_errors_interval_param;
+  int send_errors_interval_param;
   ros::param::get("~send_errors_interval", send_errors_interval_param);
   this->send_errors_interval_ = send_errors_interval_param;
   this->connection_timeout_ = ros::Duration(milliseconds / 1000.0);
diff --git a/march_safety/src/safety_handler.cpp b/march_safety/src/safety_handler.cpp
index d711741b3..2f538479e 100644
--- a/march_safety/src/safety_handler.cpp
+++ b/march_safety/src/safety_handler.cpp
@@ -3,12 +3,13 @@
 
 #include <string>
 
-SafetyHandler::SafetyHandler(ros::NodeHandle* n, ros::Publisher* error_publisher, ros::Publisher* sound_publisher,
-                             ros::Publisher* gait_instruction_publisher)
+SafetyHandler::SafetyHandler(ros::NodeHandle* n, ros::Publisher* error_publisher,
+                             ros::Publisher* gait_instruction_publisher, sound_play::SoundClient& sound_client)
   : n_(n)
   , error_publisher_(error_publisher)
-  , sound_publisher_(sound_publisher)
   , gait_instruction_publisher_(gait_instruction_publisher)
+  , fatal_sound_(sound_client.waveSoundFromPkg("march_safety", "sound/fatal.wav"))
+  , non_fatal_sound_(sound_client.waveSoundFromPkg("march_safety", "sound/non_fatal.wav"))
 {
 }
 
@@ -30,35 +31,19 @@ void SafetyHandler::publishStopMessage() const
   this->gait_instruction_publisher_->publish(gait_instruction_msg);
 }
 
-void SafetyHandler::publishErrorSound(int8_t error_type) const
-{
-  march_shared_resources::Sound sound;
-  sound.header.stamp = ros::Time::now();
-  sound.time = ros::Time::now();
-  if (error_type == march_shared_resources::Error::FATAL)
-  {
-    sound.file_name = "fatal.wav";
-  }
-  else if (error_type == march_shared_resources::Error::NON_FATAL)
-  {
-    sound.file_name = "non-fatal.wav";
-  }
-  this->sound_publisher_->publish(sound);
-}
-
-void SafetyHandler::publishFatal(std::string message)
+void SafetyHandler::publishFatal(const std::string& message)
 {
   ROS_ERROR("%s", message.c_str());
 
   this->publishErrorMessage(message, march_shared_resources::Error::FATAL);
-  this->publishErrorSound(march_shared_resources::Error::FATAL);
+  this->non_fatal_sound_.play();
 }
 
-void SafetyHandler::publishNonFatal(std::string message)
+void SafetyHandler::publishNonFatal(const std::string& message)
 {
   ROS_ERROR("%s", message.c_str());
 
   this->publishStopMessage();
   this->publishErrorMessage(message, march_shared_resources::Error::NON_FATAL);
-  this->publishErrorSound(march_shared_resources::Error::NON_FATAL);
+  this->non_fatal_sound_.play();
 }
diff --git a/march_safety/src/safety_node.cpp b/march_safety/src/safety_node.cpp
index b03b16cc0..42a9886b0 100644
--- a/march_safety/src/safety_node.cpp
+++ b/march_safety/src/safety_node.cpp
@@ -1,21 +1,16 @@
 // Copyright 2018 Project March.
-#include <sstream>
 #include <string>
 #include <vector>
 
 #include <ros/ros.h>
-#include <std_msgs/Float64.h>
-#include <std_msgs/Empty.h>
-#include <sensor_msgs/Temperature.h>
-#include <urdf/model.h>
+#include <sound_play/sound_play.h>
 
 #include "march_shared_resources/Error.h"
-#include "march_shared_resources/Sound.h"
 #include "march_shared_resources/GaitInstruction.h"
 
 #include "march_safety/input_device_safety.h"
-#include "march_safety/temperature_safety.h"
 #include "march_safety/safety_handler.h"
+#include "march_safety/temperature_safety.h"
 
 int main(int argc, char** argv)
 {
@@ -36,11 +31,11 @@ int main(int argc, char** argv)
 
   // Create an error publisher to notify the system (state machine) if something is wrong
   ros::Publisher error_publisher = n.advertise<march_shared_resources::Error>("/march/error", 1000);
-  ros::Publisher sound_publisher = n.advertise<march_shared_resources::Sound>("/march/sound/schedule", 1000);
   ros::Publisher gait_instruction_publisher =
       n.advertise<march_shared_resources::GaitInstruction>("/march/input_device/instruction", 1000);
+  sound_play::SoundClient sound_client(n, "robotsound");
 
-  SafetyHandler safety_handler = SafetyHandler(&n, &error_publisher, &sound_publisher, &gait_instruction_publisher);
+  SafetyHandler safety_handler = SafetyHandler(&n, &error_publisher, &gait_instruction_publisher, sound_client);
 
   std::vector<std::unique_ptr<SafetyType>> safety_list;
   safety_list.push_back(std::unique_ptr<SafetyType>(new TemperatureSafety(&n, &safety_handler, joint_names)));
diff --git a/march_safety/src/temperature_safety.cpp b/march_safety/src/temperature_safety.cpp
index 885341bdb..c61a5ff7a 100644
--- a/march_safety/src/temperature_safety.cpp
+++ b/march_safety/src/temperature_safety.cpp
@@ -9,7 +9,7 @@
 
 TemperatureSafety::TemperatureSafety(ros::NodeHandle* n, SafetyHandler* safety_handler,
                                      std::vector<std::string> joint_names)
-  : n_(n), safety_handler_(safety_handler), joint_names_(joint_names)
+  : n_(n), safety_handler_(safety_handler), joint_names_(std::move(joint_names))
 {
   ros::param::get("~default_temperature_threshold", this->default_temperature_threshold_);
   ros::param::get("~temperature_thresholds_warning", this->warning_temperature_thresholds_map_);
diff --git a/march_shared_resources/CMakeLists.txt b/march_shared_resources/CMakeLists.txt
index acd9e5048..a5ba46ccc 100644
--- a/march_shared_resources/CMakeLists.txt
+++ b/march_shared_resources/CMakeLists.txt
@@ -21,7 +21,6 @@ add_message_files(
     LowVoltageNet.msg
     PowerDistributionBoardState.msg
     Setpoint.msg
-    Sound.msg
     Subgait.msg
 )
 
diff --git a/march_shared_resources/msg/GaitInstruction.msg b/march_shared_resources/msg/GaitInstruction.msg
index e8227af32..9e9adbf4c 100644
--- a/march_shared_resources/msg/GaitInstruction.msg
+++ b/march_shared_resources/msg/GaitInstruction.msg
@@ -8,6 +8,9 @@ int8 STOP = 0
 int8 GAIT = 1
 int8 PAUSE = 2
 int8 CONTINUE = 3
+int8 INCREMENT_STEP_SIZE = 4
+int8 DECREMENT_STEP_SIZE = 5
 
 # If the type is a GAIT this is the name of the gait.
 string gait_name
+
diff --git a/march_shared_resources/msg/Sound.msg b/march_shared_resources/msg/Sound.msg
deleted file mode 100644
index b3a93a4fa..000000000
--- a/march_shared_resources/msg/Sound.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-Header header
-time time
-string file_name
diff --git a/march_shared_resources/msg/Subgait.msg b/march_shared_resources/msg/Subgait.msg
index 92e86cad4..fed12bcbf 100644
--- a/march_shared_resources/msg/Subgait.msg
+++ b/march_shared_resources/msg/Subgait.msg
@@ -9,4 +9,4 @@ Setpoint[] setpoints
 
 trajectory_msgs/JointTrajectory trajectory
 duration duration
-Sound[] sounds
+string[] sounds
diff --git a/march_sound_scheduler/CMakeLists.txt b/march_sound_scheduler/CMakeLists.txt
deleted file mode 100644
index 61d0bad83..000000000
--- a/march_sound_scheduler/CMakeLists.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(march_sound_scheduler)
-add_compile_options(-std=c++11 -Wall -Wextra)
-
-find_package(catkin REQUIRED COMPONENTS
-    march_shared_resources
-    roscpp
-    sound_play
-)
-
-catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS
-    march_shared_resources
-    roscpp
-    sound_play
-)
-
-include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-)
-
-add_library(${PROJECT_NAME}
-    src/scheduled_sound.cpp
-    src/scheduler.cpp
-)
-
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-
-add_executable(${PROJECT_NAME}_node src/sound_scheduler_node.cpp)
-target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
-add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS})
-
-install(DIRECTORY include/${PROJECT_NAME}
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-install(TARGETS ${PROJECT_NAME}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-)
-install(TARGETS ${PROJECT_NAME}_node
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(DIRECTORY launch sound
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
diff --git a/march_sound_scheduler/include/march_sound_scheduler/scheduled_sound.h b/march_sound_scheduler/include/march_sound_scheduler/scheduled_sound.h
deleted file mode 100644
index f387b2ac8..000000000
--- a/march_sound_scheduler/include/march_sound_scheduler/scheduled_sound.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright 2019 Project March.
-#ifndef MARCH_SOUND_SCHEDULER_SCHEDULED_SOUND_H
-#define MARCH_SOUND_SCHEDULER_SCHEDULED_SOUND_H
-#include <string>
-
-#include <ros/duration.h>
-#include <ros/ros.h>
-
-class ScheduledSound
-{
-public:
-  ros::Time time;
-  std::string sound;
-
-  ScheduledSound(const ros::Time& time, const std::string& sound);
-
-  friend bool operator<(const ScheduledSound& lhs, const ScheduledSound& rhs)
-  {
-    return lhs.time > rhs.time;
-  }
-
-  /** @brief Override stream operator for clean printing */
-  friend ::std::ostream& operator<<(std::ostream& os, const ScheduledSound& scheduled_sound)
-  {
-    return os << scheduled_sound.sound << " in " << (scheduled_sound.time - ros::Time::now()) << "s";
-  }
-};
-
-#endif  // MARCH_SOUND_SCHEDULER_SCHEDULED_SOUND_H
diff --git a/march_sound_scheduler/include/march_sound_scheduler/scheduler.h b/march_sound_scheduler/include/march_sound_scheduler/scheduler.h
deleted file mode 100644
index ef394d253..000000000
--- a/march_sound_scheduler/include/march_sound_scheduler/scheduler.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright 2019 Project March.
-#ifndef MARCH_SOUND_SCHEDULER_SCHEDULER_H
-#define MARCH_SOUND_SCHEDULER_SCHEDULER_H
-
-#include <vector>
-#include <queue>
-
-#include <ros/duration.h>
-#include <ros/ros.h>
-
-#include <sound_play/sound_play.h>
-
-#include <march_shared_resources/Sound.h>
-
-#include "march_sound_scheduler/scheduled_sound.h"
-
-class Scheduler
-{
-public:
-  Scheduler();
-
-  void schedule(ScheduledSound sound);
-  void scheduleMsg(march_shared_resources::Sound msg);
-
-  void spin();
-
-  void play(ScheduledSound sound);
-
-private:
-  std::priority_queue<ScheduledSound, std::vector<ScheduledSound>> sound_queue_;
-  sound_play::SoundClient sc_;
-};
-
-#endif  // MARCH_SOUND_SCHEDULER_SCHEDULER_H
diff --git a/march_sound_scheduler/launch/march_sound_scheduler.launch b/march_sound_scheduler/launch/march_sound_scheduler.launch
deleted file mode 100644
index 15e4ed607..000000000
--- a/march_sound_scheduler/launch/march_sound_scheduler.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-    <node name="sound_play" pkg="sound_play" type="soundplay_node.py"/>
-    <node name="sound_scheduler_node" pkg="march_sound_scheduler" type="march_sound_scheduler_node" output="screen"/>
-</launch>
diff --git a/march_sound_scheduler/package.xml b/march_sound_scheduler/package.xml
deleted file mode 100644
index 7fa8fba72..000000000
--- a/march_sound_scheduler/package.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>march_sound_scheduler</name>
-    <version>0.0.0</version>
-    <description>Schedules and plays sound with the ros sound_play package</description>
-    <maintainer email="software@projectmarch.nl">Project March</maintainer>
-    <license>TODO</license>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <depend>roscpp</depend>
-    <depend>march_shared_resources</depend>
-    <depend>sound_play</depend>
-</package>
diff --git a/march_sound_scheduler/src/scheduled_sound.cpp b/march_sound_scheduler/src/scheduled_sound.cpp
deleted file mode 100644
index 8b77812c5..000000000
--- a/march_sound_scheduler/src/scheduled_sound.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-// Copyright 2018 Project March.
-#include <string>
-
-#include <ros/ros.h>
-
-#include "march_sound_scheduler/scheduled_sound.h"
-
-ScheduledSound::ScheduledSound(const ros::Time& time, const std::string& sound) : time(time), sound(sound)
-{
-}
diff --git a/march_sound_scheduler/src/scheduler.cpp b/march_sound_scheduler/src/scheduler.cpp
deleted file mode 100644
index 91691f190..000000000
--- a/march_sound_scheduler/src/scheduler.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-// Copyright 2019 Project March.
-#include "march_sound_scheduler/scheduler.h"
-#include "march_sound_scheduler/scheduled_sound.h"
-
-Scheduler::Scheduler()
-{
-}
-
-void Scheduler::schedule(ScheduledSound sound)
-{
-  this->sound_queue_.push(sound);
-}
-
-void Scheduler::scheduleMsg(march_shared_resources::Sound msg)
-{
-  ROS_DEBUG("Received request to schedule sound %s at time %f", msg.file_name.c_str(), msg.time.toSec());
-  this->schedule(ScheduledSound(msg.time, msg.file_name));
-}
-
-void Scheduler::spin()
-{
-  if (this->sound_queue_.empty())
-  {
-    ROS_DEBUG("Sounds in queue %ld", this->sound_queue_.size());
-    return;
-  }
-
-  ROS_DEBUG_STREAM("Next sound: " << this->sound_queue_.top());
-
-  if (this->sound_queue_.top().time <= ros::Time::now())
-  {
-    this->play(this->sound_queue_.top());
-    this->sound_queue_.pop();
-  }
-}
-
-void Scheduler::play(ScheduledSound sound)
-{
-  this->sc_.playWaveFromPkg("march_sound_scheduler", "sound/" + sound.sound);
-}
diff --git a/march_sound_scheduler/src/sound_scheduler_node.cpp b/march_sound_scheduler/src/sound_scheduler_node.cpp
deleted file mode 100644
index 243102164..000000000
--- a/march_sound_scheduler/src/sound_scheduler_node.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright 2018 Project March.
-#include <ros/ros.h>
-
-#include "march_sound_scheduler/scheduler.h"
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "march_sound_scheduler");
-  ros::NodeHandle n;
-
-  ros::Publisher sound_pub = n.advertise<sound_play::SoundRequest>("robotsound", 0);
-
-  while (ros::ok() && sound_pub.getNumSubscribers() == 0)
-  {
-    ROS_DEBUG("Waiting on sound play topic");
-    ros::Duration(0.1).sleep();
-  }
-
-  Scheduler scheduler;
-
-  ros::Subscriber sound_sub = n.subscribe("/march/sound/schedule", 10, &Scheduler::scheduleMsg, &scheduler);
-
-  ros::Rate rate(10);
-  while (ros::ok())
-  {
-    scheduler.spin();
-    ros::spinOnce();
-    rate.sleep();
-  }
-
-  return 0;
-}