diff --git a/Ctrl/src/ctrl_node.cpp b/Ctrl/src/ctrl_node.cpp
index 3430da4..3d0ff8e 100644
--- a/Ctrl/src/ctrl_node.cpp
+++ b/Ctrl/src/ctrl_node.cpp
@@ -1,33 +1,85 @@
-#include "ros/ros.h"
+#include <ros/ros.h>
+#include "CtrlFSM.h"
+#include <signal.h>
+#include "std_msgs/Float32.h"
 
-FiniteStateMachine* pFSM; //# https://www.youtube.com/watch?v=jaitqSU2HIA&ab_channel=BRicey
+CtrlFSM* pFSM; //# Finite State Machine 객체
+
+void mySigintHandler(int sig) {
+    ROS_INFO("[Ctrl] Exiting...");
+    ros::shutdown();
+}
 
 int main(int argc, char* argv[]) {
-  ros::init(argc, argv, "Ctrl");
-  ros::NodeHandle nh("~");
-
-  //# 쓸데없는 약어는 지양
-  ros::Subscriber sub_odometry = nh.subscribe<nav_msgs::Odometry>("odometry",
-                                                                   100,
-                                                                   boost::bind(&Odom_Data_t::feed, &fsm.odom_data, _1),
-                                                                   ros::VoidConstPtr(),
-                                                                   ros::TransportHints().tcpNoDelay());
-
-  ros::Subscriber sub_trajectory = nh.subscribe<quadrotor_msgs::PositionCommand>("trajectory",
-                                                                                  100,
-                                                                                  boost::bind(&Command_Data_t::feed, &fsm.cmd_data, _1),
-                                                                                  ros::VoidConstPtr(),//# ???                                      
-                                                                                  ros::TransportHints().tcpNoDelay());
-
-  ros::Subscriber sub_imu = nh.subscribe<sensor_msgs::Imu>("imu",
-                                                           100,
-                                                           boost::bind(&Imu_Data_t::feed, &fsm.imu_data, _1),
-                                                           ros::VoidConstPtr(),
-                                                           ros::TransportHints().tcpNoDelay());
-  while (ros::ok()) {
-    
-      
-  }
-
-  return 0;
+    //# ROS 노드 초기화
+    ros::init(argc, argv, "Ctrl");
+    ros::NodeHandle nh("~"); // 파라미터 접근을 위한 노드 핸들러
+    signal(SIGINT, mySigintHandler); // Ctrl+C를 처리하기 위한 시그널 핸들러
+
+    //# 파라미터 초기화
+    Parameter_t param;
+    param.config_from_ros_handle(nh);
+    param.init();
+
+    // 컨트롤러 및 관련 객체 초기화
+    Controller controller(param);
+    HovThrKF hov_thr_kf(param);
+    CtrlFSM fsm(param, controller, hov_thr_kf);
+    pFSM = &fsm;
+
+    //# 호버 스로틀 칼만 필터 초기화
+    fsm.hov_thr_kf.init();
+    fsm.hov_thr_kf.set_hov_thr(param.hov_percent);
+
+    ROS_INFO("Initial value for hov_thr set to %.2f/%.2f",
+             fsm.hov_thr_kf.get_hov_thr(),
+             param.mass * param.gra / param.full_thrust);
+    ROS_INFO("Hovering thrust kalman filter is %s.",
+             param.hover.use_hov_percent_kf ? "used" : "NOT used");
+
+    //# 컨트롤러 설정
+    fsm.controller.config();
+
+    //# ROS 구독자 초기화
+    ros::Subscriber odom_sub =
+        nh.subscribe<nav_msgs::Odometry>("odom",
+                                         100,
+                                         boost::bind(&Odom_Data_t::feed, &fsm.odom_data, _1),
+                                         ros::VoidConstPtr(),
+                                         ros::TransportHints().tcpNoDelay());
+
+    ros::Subscriber cmd_sub = 
+        nh.subscribe<quadrotor_msgs::PositionCommand>("cmd",
+                                                      100,
+                                                      boost::bind(&Command_Data_t::feed, &fsm.cmd_data, _1),
+                                                      ros::VoidConstPtr(),
+                                                      ros::TransportHints().tcpNoDelay());
+
+    ros::Subscriber imu_sub =
+        nh.subscribe<sensor_msgs::Imu>("imu",
+                                         100,
+                                         boost::bind(&Imu_Data_t::feed, &fsm.imu_data, _1),
+                                         ros::VoidConstPtr(),
+                                         ros::TransportHints().tcpNoDelay());
+
+    //# ROS 퍼블리셔 초기화
+    fsm.controller.ctrl_FCU_pub = nh.advertise<mavros_msgs::AttitudeTarget>("/setpoint_raw/attitude", 10);
+    fsm.controller.debug_roll_pub = nh.advertise<std_msgs::Float32>("/debug_roll", 10);
+    fsm.controller.debug_pitch_pub = nh.advertise<std_msgs::Float32>("/debug_pitch", 10);
+    fsm.traj_start_trigger_pub = nh.advertise<geometry_msgs::PoseStamped>("/traj_start_trigger", 10);
+
+    //# 제어 주기 설정
+    ros::Rate r(param.ctrl_rate);
+
+    //# 주요 루프
+    while (ros::ok()) {
+        r.sleep();
+        ros::spinOnce();
+
+        if (fsm.px4_init()) {
+            fsm.process();
+        }
+    }
+
+    return 0;
 }