diff --git a/modules/ObjectControl/inc/channel.hpp b/modules/ObjectControl/inc/channel.hpp
index 20917d4ed..e1a02fb40 100644
--- a/modules/ObjectControl/inc/channel.hpp
+++ b/modules/ObjectControl/inc/channel.hpp
@@ -19,16 +19,22 @@ struct MonitorMessage : std::pair<uint32_t,ObjectMonitorType> {};
 class Channel : public Loggable
 {
 public:
-	Channel(const size_t bufferLength, const int type, rclcpp::Logger log)
+	Channel(const size_t bufferLength, const int type, rclcpp::Logger log, int id = 0, int transmitter = 0)
 		: channelType(type),
 		  transmitBuffer(bufferLength, 0),
 		  receiveBuffer(bufferLength, 0),
-		  Loggable(log)
+		  Loggable(log),
+		  objectId(id),
+		  transmitterId(transmitter)
 	{}
-	Channel(int type, rclcpp::Logger log) : Channel(1024, type, log) {}
+	Channel(int type, rclcpp::Logger log, int id = 0) : Channel(1024, type, log, id) {}
 	struct sockaddr_in addr = {};
 	int socket = -1;
 	int channelType = 0; //!< SOCK_STREAM or SOCK_DGRAM
+	int objectId = 0;
+	int transmitterId = 0;
+	int sentMessageCounter = 0;
+	int receivedMessageCounter = 0;
 	std::vector<char> transmitBuffer;
 	std::vector<char> receiveBuffer;
 
@@ -50,4 +56,7 @@ class Channel : public Loggable
 	friend Channel& operator>>(Channel&,MonitorMessage&);
 	friend Channel& operator>>(Channel&,ObjectPropertiesType&);
 	friend Channel& operator>>(Channel&,GeneralResponseMessageType&);
+
+protected:
+	MessageHeaderType *populateHeaderType(MessageHeaderType *header);
 };
\ No newline at end of file
diff --git a/modules/ObjectControl/inc/objectconnection.hpp b/modules/ObjectControl/inc/objectconnection.hpp
index 460a6515c..000d4c3e3 100644
--- a/modules/ObjectControl/inc/objectconnection.hpp
+++ b/modules/ObjectControl/inc/objectconnection.hpp
@@ -22,9 +22,9 @@ class ObjectConnection : public Loggable {
 	Channel cmd;
 	Channel mntr;
 
-	ObjectConnection(rclcpp::Logger log)
-		: cmd(SOCK_STREAM, log),
-		mntr(SOCK_DGRAM, log),
+	ObjectConnection(rclcpp::Logger log, int id)
+		: cmd(SOCK_STREAM, log, id),
+		mntr(SOCK_DGRAM, log, id),
 		Loggable(log) {
 			pipe(interruptionPipeFds);
 		}
diff --git a/modules/ObjectControl/src/channel.cpp b/modules/ObjectControl/src/channel.cpp
index d25a7f512..fda40a598 100644
--- a/modules/ObjectControl/src/channel.cpp
+++ b/modules/ObjectControl/src/channel.cpp
@@ -7,11 +7,13 @@
 #include "iso22133.h"
 #include <cstring>
 #include "atosTime.h"
+#include "header.h"
 
 using namespace ROSChannels;
 
 Channel& operator<<(Channel& chnl, const HeabMessageDataType& heartbeat) {
-	auto nBytes = encodeHEABMessage(&heartbeat.dataTimestamp, heartbeat.controlCenterStatus,
+	MessageHeaderType header;
+	auto nBytes = encodeHEABMessage(chnl.populateHeaderType(&header), &heartbeat.dataTimestamp, heartbeat.controlCenterStatus,
 									chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
 	if (nBytes < 0) {
 		throw std::invalid_argument(std::string("Failed to encode HEAB message: ") + strerror(errno));
@@ -24,7 +26,8 @@ Channel& operator<<(Channel& chnl, const HeabMessageDataType& heartbeat) {
 }
 
 Channel& operator<<(Channel& chnl, const ObjectSettingsType& settings) {
-	auto nBytes = encodeOSEMMessage(&settings, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
+	MessageHeaderType header;
+	auto nBytes = encodeOSEMMessage(chnl.populateHeaderType(&header), &settings, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
 	if (nBytes < 0) {
 		throw std::invalid_argument(std::string("Failed to encode OSEM message: ") + strerror(errno));
 	}
@@ -39,7 +42,8 @@ Channel& operator<<(Channel& chnl, const ATOS::Trajectory& traj) {
 	ssize_t nBytes;
 
 	// TRAJ header
-	nBytes = encodeTRAJMessageHeader(
+	MessageHeaderType header;
+	nBytes = encodeTRAJMessageHeader(chnl.populateHeaderType(&header),
 				traj.id, TRAJECTORY_INFO_RELATIVE_TO_ORIGIN, traj.name.c_str(),traj.name.length(),
 				static_cast<uint32_t>(traj.points.size()), chnl.transmitBuffer.data(),
 				chnl.transmitBuffer.size(), false);
@@ -87,7 +91,8 @@ Channel& operator<<(Channel& chnl, const ATOS::Trajectory& traj) {
 }
 
 Channel& operator<<(Channel& chnl, const ObjectCommandType& cmd) {
-	auto nBytes = encodeOSTMMessage(cmd, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
+	MessageHeaderType header;
+	auto nBytes = encodeOSTMMessage(chnl.populateHeaderType(&header), cmd, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
 	if (nBytes < 0) {
 		throw std::invalid_argument(std::string("Failed to encode OSTM message: ") + strerror(errno));
 	}
@@ -99,7 +104,8 @@ Channel& operator<<(Channel& chnl, const ObjectCommandType& cmd) {
 }
 
 Channel& operator<<(Channel& chnl, const StartMessageType& strt) {
-	auto nBytes = encodeSTRTMessage(&strt, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
+	MessageHeaderType header;
+	auto nBytes = encodeSTRTMessage(chnl.populateHeaderType(&header), &strt, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
 	if (nBytes < 0) {
 		throw std::invalid_argument(std::string("Failed to encode STRT message: ") + strerror(errno));
 	}
@@ -115,8 +121,11 @@ Channel& operator>>(Channel& chnl, MonitorMessage& monitor) {
 	if (chnl.pendingMessageType() == MESSAGE_ID_MONR) {
 		struct timeval tv;
 		TimeSetToCurrentSystemTime(&tv);
+		HeaderType header;
+		decodeISOHeader(chnl.receiveBuffer.data(), chnl.receiveBuffer.size(), &header, false);
+		monitor.first = header.transmitterID;
 		auto nBytes = decodeMONRMessage(chnl.receiveBuffer.data(), chnl.receiveBuffer.size(), tv,
-										&monitor.first, &monitor.second, false);
+										&monitor.second, false);
 		if (nBytes < 0) {
 			throw std::invalid_argument("Failed to decode MONR message");
 		}
@@ -174,7 +183,9 @@ Channel& operator<<(Channel& chnl, const ControlSignal::message_type::SharedPtr
 	rcmm.throttleManoeuvre.pct = csp->throttle;
 	rcmm.brakeManoeuvre.pct = csp->brake;
 	rcmm.steeringManoeuvre.pct = csp->steering_angle;
-	auto nBytes = encodeRCMMMessage(&rcmm, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
+
+	MessageHeaderType header;
+	auto nBytes = encodeRCMMMessage(chnl.populateHeaderType(&header),&rcmm, chnl.transmitBuffer.data(), chnl.transmitBuffer.size(), false);
 	if (nBytes < 0) {
 		throw std::invalid_argument(std::string("Failed to encode RCM message: ") + strerror(errno));
 	}
@@ -220,6 +231,14 @@ ISOMessageID Channel::pendingMessageType(bool awaitNext) {
 	}
 }
 
+MessageHeaderType *Channel::populateHeaderType(MessageHeaderType *header) {
+	memset(header, 0, sizeof (MessageHeaderType));
+	header->transmitterID = this->transmitterId;
+	header->receiverID = this->objectId;
+	header->messageCounter = this->sentMessageCounter++;
+	return header;
+}
+
 void Channel::connect(
 		std::shared_future<void> stopRequest,
 		const std::chrono::milliseconds retryPeriod) {
diff --git a/modules/ObjectControl/src/testobject.cpp b/modules/ObjectControl/src/testobject.cpp
index 9baee430b..bddb8c6b4 100644
--- a/modules/ObjectControl/src/testobject.cpp
+++ b/modules/ObjectControl/src/testobject.cpp
@@ -15,7 +15,7 @@ using std::placeholders::_1;
 TestObject::TestObject(uint32_t id) :
 	Node("object_" + std::to_string(id)),
 	osiChannel(SOCK_STREAM, get_logger()),
-	comms(get_logger()),
+	comms(get_logger(), id),
 	conf(get_logger())
 	 {
 		pathSub = std::make_shared<ROSChannels::Path::Sub>(*this, id, std::bind(&TestObject::onPathMessage, this, _1, id));
@@ -29,7 +29,7 @@ void TestObject::onPathMessage(const ROSChannels::Path::message_type::SharedPtr
 
 TestObject::TestObject(TestObject&& other) :
 	osiChannel(SOCK_STREAM, other.get_logger()),
-	comms(other.get_logger()),
+	comms(other.get_logger(), other.getTransmitterID()),
 	state(other.state),
 	conf(other.conf),
 	lastMonitor(other.lastMonitor),
@@ -271,7 +271,7 @@ void TestObject::sendSettings() {
 	objSettings.testMode = TEST_MODE_PREPLANNED;
 
 	objSettings.desiredID.transmitter = conf.getTransmitterID();
-	objSettings.desiredID.controlCentre = ::getTransmitterID();
+	objSettings.desiredID.controlCentre = 0;
 	objSettings.desiredID.subTransmitter = 0;
 
 	objSettings.coordinateSystemOrigin = conf.getOrigin();