diff --git a/fcat/CMakeLists.txt b/fcat/CMakeLists.txt
index 1aa3b84..3c96248 100644
--- a/fcat/CMakeLists.txt
+++ b/fcat/CMakeLists.txt
@@ -23,7 +23,7 @@ endif()
 include(FetchContent)
 FetchContent_Declare(fastcat
   GIT_REPOSITORY https://github.com/nasa-jpl/fastcat.git
-  GIT_TAG v0.13.15
+  GIT_TAG v0.13.20
 )
 FetchContent_MakeAvailable(fastcat)
 
diff --git a/fcat/src/fcat.cpp b/fcat/src/fcat.cpp
index 1e33c3c..0de1833 100644
--- a/fcat/src/fcat.cpp
+++ b/fcat/src/fcat.cpp
@@ -21,7 +21,28 @@ using namespace std::chrono_literals;
 using std::placeholders::_1;
 using std::placeholders::_2;
 
-Fcat::~Fcat() { fcat_manager_.Shutdown(); }
+Fcat::~Fcat() {
+  // Best-effort deregistration so the callback is not left pointing at a
+  // destroyed node if the context outlives this object.
+  auto context = this->get_node_base_interface()->get_context();
+  if (context) {
+    context->remove_pre_shutdown_callback(pre_shutdown_cb_handle_);
+  }
+  // Fallback for a destruction that is not preceded by rclcpp::shutdown().
+  // Normally the pre-shutdown callback has already saved and call_once makes
+  // this a no-op.
+  SaveState();
+}
+
+void Fcat::SaveState() {
+  // Runs at most once, whether triggered by the pre-shutdown callback or the
+  // destructor. The manager serializes the capture+write against Process()
+  // internally.
+  std::call_once(save_state_flag_, [this]() {
+    RCLCPP_INFO(this->get_logger(), "Saving actuator positions on shutdown");
+    fcat_manager_.SaveActuatorPositions();
+  });
+}
 
 Fcat::Fcat(const rclcpp::NodeOptions& options)
     : FcatNode("fcat", "fcat", options),
@@ -248,6 +269,15 @@ Fcat::Fcat(const rclcpp::NodeOptions& options)
   fcat_state_ = FcatState::INACTIVE;
   StartProcessTimer();
   fcat_state_ = FcatState::ACTIVE;
+
+  // Persist actuator positions on shutdown. Runs on whichever thread initiates
+  // shutdown (the signal thread for SIGINT/SIGTERM), before the context is torn
+  // down, so the save does not depend on destructor ordering.
+  // SaveActuatorPositions() takes the manager's process mutex, so it is safe
+  // even though the process loop may still be spinning here.
+  pre_shutdown_cb_handle_ =
+      this->get_node_base_interface()->get_context()->add_pre_shutdown_callback(
+          [this]() { SaveState(); });
 }
 
 void Fcat::SetRealtimePreempt(int scheduler_priority) {
@@ -1448,7 +1478,6 @@ void Fcat::SetCpuAffinity() {
 }
 
 void Fcat::Process() {
-  fprintf(stderr, "Handling Process() loop\n");
   auto now = this->get_clock()->now();
 
   bool report_cycle_slips = this->get_parameter("report_cycle_slips").as_bool();
@@ -1609,8 +1638,6 @@ void Fcat::PublishAsyncSdoResponse() {
 
     msg.data = jsd_sdo_data_to_string(sdo_resp.response.data_type, sdo_resp.response.data);
 
-    fprintf(stderr, "Publishing new AsyncSdoResponse\n");
-
     async_sdo_response_pub_->publish(msg);
   }
 }
diff --git a/fcat/src/fcat.hpp b/fcat/src/fcat.hpp
index 2ced137..f4ba414 100644
--- a/fcat/src/fcat.hpp
+++ b/fcat/src/fcat.hpp
@@ -8,6 +8,7 @@
 #include <any>
 #include <functional>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <unordered_map>
 #include <vector>
@@ -109,6 +110,9 @@ class Fcat : public FcatNode {
 
  private:
   void Process() override;
+  // Capture + persist actuator positions on shutdown. Idempotent (guarded by
+  // save_state_flag_); invoked by both the pre-shutdown callback and the dtor.
+  void SaveState();
   void SetRealtimePreempt(int scheduler_priority);
   void PopulateDeviceStateFields();
   void SetCpuAffinity();
@@ -476,5 +480,8 @@ class Fcat : public FcatNode {
   bool reset_in_progress_ = false;
   FcatState fcat_state_ = FcatState::UNCONFIGURED;
   std::vector<rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr> param_cb_handles_;
+
+  std::once_flag save_state_flag_;
+  rclcpp::PreShutdownCallbackHandle pre_shutdown_cb_handle_;
 };
 #endif  // FCAT_HPP_
diff --git a/fcat/src/fcat_callbacks.cpp b/fcat/src/fcat_callbacks.cpp
index e326b9b..875b32e 100644
--- a/fcat/src/fcat_callbacks.cpp
+++ b/fcat/src/fcat_callbacks.cpp
@@ -50,7 +50,7 @@ void Fcat::Fault() {
 }
 
 void Fcat::AsyncSdoReadCmdCb(const std::shared_ptr<fcat_msgs::msg::AsyncSdoReadCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ASYNC_SDO_READ_CMD;
   cmd.async_sdo_read_cmd.sdo_index = msg->sdo_index;
@@ -63,7 +63,7 @@ void Fcat::AsyncSdoReadCmdCb(const std::shared_ptr<fcat_msgs::msg::AsyncSdoReadC
   }
 }
 void Fcat::AsyncSdoWriteCmdCb(const std::shared_ptr<fcat_msgs::msg::AsyncSdoWriteCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ASYNC_SDO_WRITE_CMD;
   cmd.async_sdo_write_cmd.sdo_index = msg->sdo_index;
@@ -97,7 +97,7 @@ void Fcat::CallActuatorCSP(const fcat_msgs::msg::ActuatorCspCmd& msg, double t)
     subscription_cpu_affinity_initialized_ = true;
   }
 
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg.name;
   cmd.type = fastcat::ACTUATOR_CSP_CMD;
   cmd.actuator_csp_cmd.request_time = msg.request_time;
@@ -132,7 +132,6 @@ void Fcat::ActuatorCSPCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCspCmd
 }
 
 void Fcat::ActuatorCSPCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCspCmds> msg) {
-  fprintf(stderr, "Processing ActuatorCSPCmdsCb\n");
   double t = this->now().seconds();
   for (auto csp_cmd : msg->commands) {
     CallActuatorCSP(csp_cmd, t);
@@ -156,7 +155,7 @@ void Fcat::CallActuatorCSV(const fcat_msgs::msg::ActuatorCsvCmd& msg) {
     subscription_cpu_affinity_initialized_ = true;
   }
 
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg.name;
   cmd.type = fastcat::ACTUATOR_CSV_CMD;
   cmd.actuator_csv_cmd.target_velocity = msg.target_velocity;
@@ -172,7 +171,6 @@ void Fcat::ActuatorCSVCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCsvCmd
 }
 
 void Fcat::ActuatorCSVCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCsvCmds> msg) {
-  fprintf(stderr, "Processing ActuatorCSVCmdsCb\n");
   for (auto csv_cmd : msg->commands) {
     CallActuatorCSV(csv_cmd);
   }
@@ -195,7 +193,7 @@ void Fcat::CallActuatorCST(const fcat_msgs::msg::ActuatorCstCmd& msg) {
     subscription_cpu_affinity_initialized_ = true;
   }
 
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg.name;
   cmd.type = fastcat::ACTUATOR_CST_CMD;
   cmd.actuator_cst_cmd.target_torque_amps = msg.target_torque_amps;
@@ -210,14 +208,13 @@ void Fcat::ActuatorCSTCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCstCmd
 }
 
 void Fcat::ActuatorCSTCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCstCmds> msg) {
-  fprintf(stderr, "Processing ActuatorCSTCmdsCb\n");
   for (auto cst_cmd : msg->commands) {
     CallActuatorCST(cst_cmd);
   }
 }
 
 void Fcat::ActuatorCalibrateCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorCalibrateCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_CALIBRATE_CMD;
   cmd.actuator_calibrate_cmd.velocity = msg->velocity;
@@ -229,13 +226,16 @@ void Fcat::ActuatorCalibrateCmdCb(const std::shared_ptr<fcat_msgs::msg::Actuator
 }
 
 void Fcat::CallActuatorProfPos(const fcat_msgs::msg::ActuatorProfPosCmd& msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg.name;
   cmd.type = fastcat::ACTUATOR_PROF_POS_CMD;
   cmd.actuator_prof_pos_cmd.target_position = msg.target_position;
   cmd.actuator_prof_pos_cmd.profile_velocity = msg.profile_velocity;
   cmd.actuator_prof_pos_cmd.profile_accel = msg.profile_accel;
   cmd.actuator_prof_pos_cmd.relative = msg.relative;
+  // No end_velocity in ActuatorProfPosCmd; fastcat checks it against the speed
+  // limit, so pin it to 0 (stop at goal).
+  cmd.actuator_prof_pos_cmd.end_velocity = 0.0;
   if (ActuatorExistsOnBus(cmd.name)) {
     QueueCommand(cmd);
   }
@@ -246,7 +246,7 @@ void Fcat::ActuatorProfPosCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorPr
 }
 void Fcat::ActuatorProfTorqueCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorProfTorqueCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_PROF_TORQUE_CMD;
   cmd.actuator_prof_torque_cmd.target_torque_amps = msg->target_torque_amps;
@@ -256,7 +256,7 @@ void Fcat::ActuatorProfTorqueCmdCb(
   }
 }
 void Fcat::ActuatorProfVelCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorProfVelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_PROF_VEL_CMD;
   cmd.actuator_prof_vel_cmd.target_velocity = msg->target_velocity;
@@ -275,7 +275,7 @@ void Fcat::ActuatorProfPosCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorP
 
 void Fcat::ActuatorSetOutputPositionCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorSetOutputPositionCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_SET_OUTPUT_POSITION_CMD;
   cmd.actuator_set_output_position_cmd.position = msg->position;
@@ -286,7 +286,7 @@ void Fcat::ActuatorSetOutputPositionCmdCb(
 
 void Fcat::ActuatorSetDigitalOutputCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorSetDigitalOutputCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_SET_DIGITAL_OUTPUT_CMD;
   cmd.actuator_set_digital_output_cmd.digital_output_index = msg->digital_output_index;
@@ -298,7 +298,7 @@ void Fcat::ActuatorSetDigitalOutputCmdCb(
 
 void Fcat::ActuatorSetMaxCurrentCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorSetMaxCurrentCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_SET_MAX_CURRENT_CMD;
   cmd.actuator_set_max_current_cmd.current = msg->max_current;
@@ -310,7 +310,7 @@ void Fcat::ActuatorSetMaxCurrentCmdCb(
 
 void Fcat::ActuatorSetUnitModeCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorSetUnitModeCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_SDO_SET_UNIT_MODE_CMD;
   cmd.actuator_sdo_set_unit_mode_cmd.mode = msg->mode;
@@ -322,7 +322,7 @@ void Fcat::ActuatorSetUnitModeCmdCb(
 
 void Fcat::ActuatorSetProfDisengagingTimeoutCmdCb(
     const std::shared_ptr<fcat_msgs::msg::ActuatorSetProfDisengagingTimeoutCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_SET_PROF_DISENGAGING_TIMEOUT_CMD;
   cmd.actuator_set_prof_disengaging_timeout_cmd.timeout = msg->timeout;
@@ -332,7 +332,7 @@ void Fcat::ActuatorSetProfDisengagingTimeoutCmdCb(
 }
 
 void Fcat::ActuatorHaltCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorHaltCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::ACTUATOR_HALT_CMD;
   if (ActuatorExistsOnBus(cmd.name)) {
@@ -342,7 +342,7 @@ void Fcat::ActuatorHaltCmdCb(const std::shared_ptr<fcat_msgs::msg::ActuatorHaltC
 
 void Fcat::ActuatorHaltCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorHaltCmds> msg) {
   for (auto& name : msg->names) {
-    fastcat::DeviceCmd cmd;
+    fastcat::DeviceCmd cmd{};
     cmd.name = name;
     cmd.type = fastcat::ACTUATOR_HALT_CMD;
     if (ActuatorExistsOnBus(cmd.name)) {
@@ -352,7 +352,7 @@ void Fcat::ActuatorHaltCmdsCb(const std::shared_ptr<fcat_msgs::msg::ActuatorHalt
 }
 
 void Fcat::CommanderEnableCmdCb(const std::shared_ptr<fcat_msgs::msg::CommanderEnableCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::COMMANDER_ENABLE_CMD;
   cmd.commander_enable_cmd.duration = msg->duration;
@@ -363,7 +363,7 @@ void Fcat::CommanderEnableCmdCb(const std::shared_ptr<fcat_msgs::msg::CommanderE
 }
 
 void Fcat::CommanderDisableCmdCb(const std::shared_ptr<fcat_msgs::msg::CommanderDisableCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::COMMANDER_DISABLE_CMD;
 
@@ -374,7 +374,7 @@ void Fcat::CommanderDisableCmdCb(const std::shared_ptr<fcat_msgs::msg::Commander
 
 void Fcat::El2124WriteAllChannelsCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2124WriteAllChannelsCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2124_WRITE_ALL_CHANNELS_CMD;
   cmd.el2124_write_all_channels_cmd.channel_ch1 = msg->channel_ch1;
@@ -388,7 +388,7 @@ void Fcat::El2124WriteAllChannelsCmdCb(
 }
 void Fcat::El2124WriteChannelCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2124WriteChannelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2124_WRITE_CHANNEL_CMD;
   cmd.el2124_write_channel_cmd.channel = msg->channel;
@@ -401,7 +401,7 @@ void Fcat::El2124WriteChannelCmdCb(
 
 void Fcat::El2809WriteAllChannelsCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2809WriteAllChannelsCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2809_WRITE_ALL_CHANNELS_CMD;
   cmd.el2809_write_all_channels_cmd.channel_ch1 = msg->channel_ch1;
@@ -427,7 +427,7 @@ void Fcat::El2809WriteAllChannelsCmdCb(
 }
 void Fcat::El2809WriteChannelCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2809WriteChannelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2809_WRITE_CHANNEL_CMD;
   cmd.el2809_write_channel_cmd.channel = msg->channel;
@@ -440,7 +440,7 @@ void Fcat::El2809WriteChannelCmdCb(
 
 void Fcat::El2798WriteAllChannelsCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2798WriteAllChannelsCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2798_WRITE_ALL_CHANNELS_CMD;
   cmd.el2798_write_all_channels_cmd.channel_ch1 = msg->channel_ch1;
@@ -458,7 +458,7 @@ void Fcat::El2798WriteAllChannelsCmdCb(
 }
 void Fcat::El2798WriteChannelCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2798WriteChannelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2798_WRITE_CHANNEL_CMD;
   cmd.el2798_write_channel_cmd.channel = msg->channel;
@@ -471,7 +471,7 @@ void Fcat::El2798WriteChannelCmdCb(
 
 void Fcat::El2828WriteAllChannelsCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2828WriteAllChannelsCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2828_WRITE_ALL_CHANNELS_CMD;
   cmd.el2828_write_all_channels_cmd.channel_ch1 = msg->channel_ch1;
@@ -489,7 +489,7 @@ void Fcat::El2828WriteAllChannelsCmdCb(
 }
 void Fcat::El2828WriteChannelCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El2828WriteChannelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL2828_WRITE_CHANNEL_CMD;
   cmd.el2828_write_channel_cmd.channel = msg->channel;
@@ -502,7 +502,7 @@ void Fcat::El2828WriteChannelCmdCb(
 
 void Fcat::El4102WriteAllChannelsCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El4102WriteAllChannelsCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL4102_WRITE_ALL_CHANNELS_CMD;
   cmd.el4102_write_all_channels_cmd.voltage_output_ch1 = msg->voltage_output_ch1;
@@ -514,7 +514,7 @@ void Fcat::El4102WriteAllChannelsCmdCb(
 }
 void Fcat::El4102WriteChannelCmdCb(
     const std::shared_ptr<fcat_msgs::msg::El4102WriteChannelCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::EL4102_WRITE_CHANNEL_CMD;
   cmd.el4102_write_channel_cmd.channel = msg->channel;
@@ -526,7 +526,7 @@ void Fcat::El4102WriteChannelCmdCb(
 }
 
 void Fcat::FaulterEnableCmdCb(const std::shared_ptr<fcat_msgs::msg::FaulterEnableCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::FAULTER_ENABLE_CMD;
   cmd.faulter_enable_cmd.enable = msg->enable;
@@ -537,7 +537,7 @@ void Fcat::FaulterEnableCmdCb(const std::shared_ptr<fcat_msgs::msg::FaulterEnabl
 }
 
 void Fcat::FtsTareCmdCb(const std::shared_ptr<fcat_msgs::msg::FtsTareCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::FTS_TARE_CMD;
 
@@ -547,7 +547,7 @@ void Fcat::FtsTareCmdCb(const std::shared_ptr<fcat_msgs::msg::FtsTareCmd> msg) {
 }
 
 void Fcat::PidActivateCmdCb(const std::shared_ptr<fcat_msgs::msg::PidActivateCmd> msg) {
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = msg->name;
   cmd.type = fastcat::PID_ACTIVATE_CMD;
   cmd.pid_activate_cmd.setpoint = msg->setpoint;
@@ -582,7 +582,7 @@ void Fcat::ActuatorHaltSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorHaltService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorHaltService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Halt Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_HALT_CMD;
 
@@ -596,7 +596,7 @@ void Fcat::ActuatorSetGainSchedulingIndexSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorSetGainSchedulingIndexService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorSetGainSchedulingIndexService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Gain Scheduling Index Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_SET_GAIN_SCHEDULING_INDEX_CMD;
   cmd.actuator_set_gain_scheduling_index_cmd.gain_scheduling_index = request->gain_scheduling_index;
@@ -611,7 +611,7 @@ void Fcat::ActuatorSetMaxCurrentSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorSetMaxCurrentService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorSetMaxCurrentService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Max Current Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_SET_MAX_CURRENT_CMD;
   cmd.actuator_set_max_current_cmd.current = request->max_current;
@@ -626,7 +626,7 @@ void Fcat::ActuatorSetDigitalOutputSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorSetDigitalOutputService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorSetDigitalOutputService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Digital Output Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_SET_DIGITAL_OUTPUT_CMD;
   cmd.actuator_set_digital_output_cmd.digital_output_index = request->digital_output_index;
@@ -642,7 +642,7 @@ void Fcat::ActuatorSetProfDisengagingTimeoutSrvCb(
         request,
     std::shared_ptr<fcat_msgs::srv::ActuatorSetProfDisengagingTimeoutService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Profile Disengaging Timeout Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_SET_PROF_DISENGAGING_TIMEOUT_CMD;
   cmd.actuator_set_prof_disengaging_timeout_cmd.timeout = request->timeout;
@@ -657,7 +657,7 @@ void Fcat::ActuatorSetOutputPositionSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorSetOutputPositionService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorSetOutputPositionService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Output Position Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_SET_OUTPUT_POSITION_CMD;
   cmd.actuator_set_output_position_cmd.position = request->position;
@@ -671,7 +671,7 @@ void Fcat::ActuatorCalibrateSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorCalibrateService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorCalibrateService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Calibrate Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_CALIBRATE_CMD;
   cmd.actuator_calibrate_cmd.velocity = request->velocity;
@@ -687,13 +687,16 @@ void Fcat::ActuatorProfPosSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorProfPosService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorProfPosService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Prof Pos Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_PROF_POS_CMD;
   cmd.actuator_prof_pos_cmd.target_position = request->target_position;
   cmd.actuator_prof_pos_cmd.profile_velocity = request->profile_velocity;
   cmd.actuator_prof_pos_cmd.profile_accel = request->profile_accel;
   cmd.actuator_prof_pos_cmd.relative = request->relative;
+  // No end_velocity in ActuatorProfPosService; fastcat checks it against the
+  // speed limit, so pin it to 0 (stop at goal).
+  cmd.actuator_prof_pos_cmd.end_velocity = 0.0;
   response->success = ActuatorExistsOnBus(cmd.name, response->message);
   if (response->success) {
     QueueCommand(cmd);
@@ -704,7 +707,7 @@ void Fcat::ActuatorProfVelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorProfVelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorProfVelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Prof Vel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_PROF_VEL_CMD;
   cmd.actuator_prof_vel_cmd.target_velocity = request->target_velocity;
@@ -720,7 +723,7 @@ void Fcat::ActuatorProfTorqueSrvCb(
     const std::shared_ptr<fcat_msgs::srv::ActuatorProfTorqueService::Request> request,
     std::shared_ptr<fcat_msgs::srv::ActuatorProfTorqueService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Actuator Set Prof Torque Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::ACTUATOR_PROF_TORQUE_CMD;
   cmd.actuator_prof_torque_cmd.target_torque_amps = request->target_torque_amps;
@@ -735,7 +738,7 @@ void Fcat::CommanderEnableSrvCb(
     const std::shared_ptr<fcat_msgs::srv::CommanderEnableService::Request> request,
     std::shared_ptr<fcat_msgs::srv::CommanderEnableService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Commander Enable Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::COMMANDER_ENABLE_CMD;
   cmd.commander_enable_cmd.duration = request->duration;
@@ -750,7 +753,7 @@ void Fcat::CommanderDisableSrvCb(
     const std::shared_ptr<fcat_msgs::srv::CommanderDisableService::Request> request,
     std::shared_ptr<fcat_msgs::srv::CommanderDisableService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Commander Disable Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::COMMANDER_DISABLE_CMD;
 
@@ -764,7 +767,7 @@ void Fcat::El2124WriteAllChannelsSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2124WriteAllChannelsService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2124WriteAllChannelsService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2124 Write All Channels Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2124_WRITE_ALL_CHANNELS_CMD;
@@ -783,7 +786,7 @@ void Fcat::El2124WriteChannelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2124WriteChannelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2124WriteChannelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2124 Write Channel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2124_WRITE_CHANNEL_CMD;
@@ -800,7 +803,7 @@ void Fcat::El2809WriteAllChannelsSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2809WriteAllChannelsService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2809WriteAllChannelsService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2809 Write All Channels Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2809_WRITE_ALL_CHANNELS_CMD;
@@ -831,7 +834,7 @@ void Fcat::El2809WriteChannelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2809WriteChannelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2809WriteChannelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2809 Write Channel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2809_WRITE_CHANNEL_CMD;
@@ -848,7 +851,7 @@ void Fcat::El2798WriteAllChannelsSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2798WriteAllChannelsService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2798WriteAllChannelsService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2798 Write All Channels Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2798_WRITE_ALL_CHANNELS_CMD;
@@ -871,7 +874,7 @@ void Fcat::El2828WriteAllChannelsSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2828WriteAllChannelsService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2828WriteAllChannelsService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2828 Write All Channels Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2828_WRITE_ALL_CHANNELS_CMD;
@@ -894,7 +897,7 @@ void Fcat::El2798WriteChannelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2798WriteChannelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2798WriteChannelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2798 Write Channel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2798_WRITE_CHANNEL_CMD;
@@ -911,7 +914,7 @@ void Fcat::El2828WriteChannelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El2828WriteChannelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El2828WriteChannelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL2828 Write Channel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL2828_WRITE_CHANNEL_CMD;
@@ -928,7 +931,7 @@ void Fcat::El4102WriteAllChannelsSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El4102WriteAllChannelsService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El4102WriteAllChannelsService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL4102 Write All Channels Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL4102_WRITE_ALL_CHANNELS_CMD;
@@ -945,7 +948,7 @@ void Fcat::El4102WriteChannelSrvCb(
     const std::shared_ptr<fcat_msgs::srv::El4102WriteChannelService::Request> request,
     std::shared_ptr<fcat_msgs::srv::El4102WriteChannelService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling EL4102 Write Channel Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::EL4102_WRITE_CHANNEL_CMD;
@@ -962,7 +965,7 @@ void Fcat::FaulterEnableSrvCb(
     const std::shared_ptr<fcat_msgs::srv::FaulterEnableService::Request> request,
     std::shared_ptr<fcat_msgs::srv::FaulterEnableService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling Faulter Enable Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
 
   cmd.name = request->name;
   cmd.type = fastcat::FAULTER_ENABLE_CMD;
@@ -978,7 +981,7 @@ void Fcat::FtsTareSrvCb(
     const std::shared_ptr<fcat_msgs::srv::DeviceTriggerService::Request> request,
     std::shared_ptr<fcat_msgs::srv::DeviceTriggerService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling FTS Tare Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
   cmd.name = request->name;
   cmd.type = fastcat::FTS_TARE_CMD;
 
@@ -992,7 +995,8 @@ void Fcat::PidActivateSrvCb(
     const std::shared_ptr<fcat_msgs::srv::PidActivateService::Request> request,
     std::shared_ptr<fcat_msgs::srv::PidActivateService::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Handling PID Activate Command");
-  fastcat::DeviceCmd cmd;
+  fastcat::DeviceCmd cmd{};
+  cmd.name = request->name;
   cmd.type = fastcat::PID_ACTIVATE_CMD;
   cmd.pid_activate_cmd.setpoint = request->setpoint;
   cmd.pid_activate_cmd.deadband = request->deadband;