diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 49cda13..8cfa45e 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -203,6 +203,7 @@
         ":event_loop_localizer",
         ":localizer",
         "//aos/controls:control_loop_test",
+        "//aos/events:shm-event-loop",
         "//aos/network:team_number",
         "//frc971/control_loops:team_number_test_environment",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
diff --git a/y2019/control_loops/drivetrain/camera.q b/y2019/control_loops/drivetrain/camera.q
index 6ef6f49..9d5dffc 100644
--- a/y2019/control_loops/drivetrain/camera.q
+++ b/y2019/control_loops/drivetrain/camera.q
@@ -8,6 +8,8 @@
   float skew;
 };
 
+// Frames from a camera.
+// Published on ".y2019.control_loops.drivetrain.camera_frames"
 message CameraFrame {
   // Number of nanoseconds since the aos::monotonic_clock epoch at which this
   // frame was captured.
@@ -22,5 +24,3 @@
   // Index of the camera position (not serial number) which this frame is from.
   uint8_t camera;
 };
-
-queue CameraFrame camera_frames;
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 75a8af3..3052b5b 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -48,7 +48,7 @@
                              ".frc971.control_loops.drivetrain_queue.position",
                              ".frc971.control_loops.drivetrain_queue.output",
                              ".frc971.control_loops.drivetrain_queue.status"),
-        camera_queue_(::y2019::control_loops::drivetrain::camera_frames.name()),
+        camera_queue_(".y2019.control_loops.drivetrain.camera_frames"),
         localizer_(dt_config_, &event_loop_),
         drivetrain_motor_(dt_config_, &event_loop_, &localizer_),
         drivetrain_motor_plant_(&simulation_event_loop_, dt_config_),
@@ -60,7 +60,6 @@
     // is just prone to causing confusion.
     SetStartingPosition({3.0, 2.0, 0.0});
     ::frc971::sensors::gyro_reading.Clear();
-    ::y2019::control_loops::drivetrain::camera_frames.Clear();
     set_battery_voltage(12.0);
   }
 
@@ -168,7 +167,6 @@
 
   virtual ~LocalizedDrivetrainTest() {
     ::frc971::sensors::gyro_reading.Clear();
-    ::y2019::control_loops::drivetrain::camera_frames.Clear();
   }
 
   const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>