diff --git a/.github/workflows/ros2_build_and_tag.yml b/.github/workflows/ros2_build_and_tag.yml
index 6beea9b..ef8b034 100644
--- a/.github/workflows/ros2_build_and_tag.yml
+++ b/.github/workflows/ros2_build_and_tag.yml
@@ -46,7 +46,7 @@ env:
     apt-get install -y python3-ipython
     dpkg -i fcat/.github/python3-cogapp_3.3.0-3_all.deb
     cp fcat/.github/cog /usr/local/bin/
-    git clone --depth 1 --branch update-msgs https://github.com/nasa-jpl/fcat_msgs.git
+    git clone --depth 1 --branch v0.10.0 https://github.com/nasa-jpl/fcat_msgs.git
 
 jobs:
   # ============================================================================
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64b9d3a..1aa3b84 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,7 +23,7 @@ endif()
 include(FetchContent)
 FetchContent_Declare(fastcat
   GIT_REPOSITORY https://github.com/nasa-jpl/fastcat.git
-  GIT_TAG v0.13.13
+  GIT_TAG v0.13.15
 )
 FetchContent_MakeAvailable(fastcat)
 
diff --git a/README.md b/README.md
index 31bb4d7..3103d17 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ An optional ROS2 node called `fcat_srvs` is provided in this package. The purpos
 
 ## Quickstart
 
-Due to a potential issue in the default RMW implementation, the cyclone vendor is recommended for use as of the Feb 2021 ROS2 Foxy release.
+Due to a potential issue in the default RMW implementation, the cyclone vendor is recommended for use:
 
 ``` bash
 sudo apt install ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
diff --git a/src/fcat.cpp b/src/fcat.cpp
index ffeb214..1e33c3c 100644
--- a/src/fcat.cpp
+++ b/src/fcat.cpp
@@ -48,7 +48,7 @@ Fcat::Fcat(const rclcpp::NodeOptions& options)
   RCLCPP_INFO(this->get_logger(), "loading Yaml from %s", fastcat_config_path.c_str());
   YAML::Node node = YAML::LoadFile(fastcat_config_path);
 
-  if (!fcat_manager_.ConfigFromYaml(node)) {
+  if (!fcat_manager_.CreateConfigFromYaml(node)) {
     throw std::invalid_argument("Fastcat Manager failed to process bus configuration YAML file.");
   }
 
@@ -240,7 +240,11 @@ Fcat::Fcat(const rclcpp::NodeOptions& options)
   loop_period_sec_ = 1.0 / fcat_manager_.GetTargetLoopRate();
   last_time_ = this->now().seconds();
   module_state_msg_.faulted = false;
-  
+
+  if (!fcat_manager_.InitHardware()) {
+    throw std::invalid_argument("Fastcat Manager failed to initialize EtherCAT hardware.");
+  }
+
   fcat_state_ = FcatState::INACTIVE;
   StartProcessTimer();
   fcat_state_ = FcatState::ACTIVE;