diff --git a/code/acting/launch/acting.launch b/code/acting/launch/acting.launch
index 0c23e4ee..43fb3e1b 100644
--- a/code/acting/launch/acting.launch
+++ b/code/acting/launch/acting.launch
@@ -3,7 +3,7 @@
     <arg name="role_name" default="ego_vehicle" />
     <arg name="control_loop_rate" default="0.1" />
 
-    <node pkg="acting" type="acting.py" name="acting" output="screen">
+    <node pkg="acting" type="pure_pursuit_controller.py" name="pure_pursuit_controller" output="screen">
         <param name="control_loop_rate" value="$(arg control_loop_rate)" />
         <param name="role_name" value="$(arg role_name)" />
     </node>
diff --git a/code/acting/src/acting/acting.py b/code/acting/src/acting/acting.py
deleted file mode 100755
index 19bffa54..00000000
--- a/code/acting/src/acting/acting.py
+++ /dev/null
@@ -1,77 +0,0 @@
-#!/usr/bin/env python
-import ros_compatibility as roscomp
-from ros_compatibility.node import CompatibleNode
-from carla_msgs.msg import CarlaEgoVehicleControl
-from rospy import Publisher
-from ros_compatibility.qos import QoSProfile, DurabilityPolicy
-from std_msgs.msg import Bool
-
-
-class Acting(CompatibleNode):
-    def __init__(self):
-        super(Acting, self).__init__('acting')
-        self.loginfo('Acting node started')
-
-        self.control_loop_rate = self.get_param('control_loop_rate', 0.05)
-        self.role_name = self.get_param('role_name', 'ego_vehicle')
-
-        self.control_publisher: Publisher = self.new_publisher(
-            CarlaEgoVehicleControl,
-            f'/carla/{self.role_name}/vehicle_control_cmd',
-            qos_profile=10
-        )
-        self.status_pub = self.new_publisher(
-            Bool, f"/carla/{self.role_name}/status",
-            qos_profile=QoSProfile(
-                depth=1,
-                durability=DurabilityPolicy.TRANSIENT_LOCAL)
-        )
-
-    def run(self):
-        """
-        Starts the main loop of the node
-        :return:
-        """
-        self.status_pub.publish(True)
-        self.loginfo('Acting node running')
-
-        def loop(timer_event=None):
-            """
-            Main loop of the acting node
-            :param timer_event: Timer event from ROS
-            :return:
-            """
-            message = CarlaEgoVehicleControl()
-
-            # set throttle to 0.1
-            message.throttle = 0.1
-            message.brake = 0
-            message.hand_brake = False
-            message.manual_gear_shift = False
-
-            message.header.stamp = roscomp.ros_timestamp(self.get_time(),
-                                                         from_sec=True)
-            self.control_publisher.publish(message)
-
-        self.new_timer(self.control_loop_rate, loop)
-        self.spin()
-
-
-def main(args=None):
-    """
-      main function starts the acting node
-      :param args:
-    """
-    roscomp.init('acting', args=args)
-
-    try:
-        node = Acting()
-        node.run()
-    except KeyboardInterrupt:
-        pass
-    finally:
-        roscomp.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/code/acting/src/acting/pure_pursuit_controller.py b/code/acting/src/acting/pure_pursuit_controller.py
new file mode 100755
index 00000000..938d4b1e
--- /dev/null
+++ b/code/acting/src/acting/pure_pursuit_controller.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python
+import ros_compatibility as roscomp
+# from carla_msgs.msg import CarlaGnssRoute
+from ros_compatibility.node import CompatibleNode
+from ros_compatibility.qos import QoSProfile, DurabilityPolicy
+from rospy import Publisher, Subscriber
+from std_msgs.msg import Float32, Bool
+
+
+# todo: docs
+class PurePursuitController(CompatibleNode):
+    def __init__(self):
+        super(PurePursuitController, self).__init__('pure_pursuit_controller')
+        self.loginfo('PurePursuitController node started')
+
+        self.control_loop_rate = self.get_param('control_loop_rate', 0.05)
+        self.role_name = self.get_param('role_name', 'ego_vehicle')
+
+        self.stanley_steer_sub: Subscriber = self.new_subscription(
+            Float32,
+            f"/carla/{self.role_name}/max_velocity",
+            self.__get_max_velocity,
+            qos_profile=1)
+
+        # self.position_sub: Subscriber = self.new_subscription(
+        #     GNSSMeasurement,
+        #     f"/carla/{self.role_name}/Speed",
+        #     self.__get_velocity,
+        #     qos_profile=1)
+
+        self.pure_pursuit_steer_pub: Publisher = self.new_publisher(
+            Float32,
+            f"/carla/{self.role_name}/pure_pursuit_steer",
+            qos_profile=1)
+
+        self.status_pub = self.new_publisher(  # todo: delete (this is only
+            # necessary if vehicle controller isn't running)
+            Bool, f"/carla/{self.role_name}/status",
+            qos_profile=QoSProfile(
+                depth=1,
+                durability=DurabilityPolicy.TRANSIENT_LOCAL)
+        )
+
+        self.__current_velocity: float = 0
+        self.__max_velocity: float = 0
+
+    def run(self):
+        """
+        Starts the main loop of the node
+        :return:
+        """
+        self.loginfo('PurePursuitController node running')
+        self.status_pub.publish(True)  # todo: delete (this is only
+        # necessary if vehicle controller isn't running)
+
+        def loop(timer_event=None):
+            """
+            Main loop of the acting node
+            :param timer_event: Timer event from ROS
+            :return:
+            """
+            pass
+
+        self.new_timer(self.control_loop_rate, loop)
+        self.spin()
+
+
+def main(args=None):
+    """
+      main function starts the acting node
+      :param args:
+    """
+    roscomp.init('pure_pursuit_controller', args=args)
+
+    try:
+        node = PurePursuitController()
+        node.run()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        roscomp.shutdown()
+
+
+if __name__ == '__main__':
+    main()