diff --git a/gui/roboglue_gui.cpp b/gui/roboglue_gui.cpp
index da98127..821466c 100644
--- a/gui/roboglue_gui.cpp
+++ b/gui/roboglue_gui.cpp
@@ -91,7 +91,6 @@ void RoboGlue_GUI::disableLockAxes(){
 ////////////////////////////////////////////////
 void RoboGlue_GUI::on_commonStatusChange() {
     modlog->trace("on_commonStatusChange Received");
-    // TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
     this->ui->lbl_relay->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("relay")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.relayTime))));
     this->ui->lbl_follower->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("follower")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.followerTime))));
     this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime))));
@@ -342,6 +341,14 @@ void RoboGlue_GUI::on_btn_setFrame_clicked() {
     emit m->commonStatusChange();
     emit sendROScommand("SETFRAME", param);
 }
+
+void RoboGlue_GUI::on_btn_stopRos_clicked() {
+    QVariantMap param;
+    modlog->debug("stopRos");
+    param["action"]=false;
+    emit m->commonStatusChange();
+    emit sendROScommand("QUIT", param);
+}
 ////////////////////////////////////////////////
 ////////END INTERNAL PRIVATE SLOTS//////////////
 ////////////////////////////////////////////////
@@ -387,4 +394,3 @@ void RoboGlue_GUI::on_newRobotData() {
 //////// END EXTERNAL PUBLIC SLOTS /////////////
 ////////////////////////////////////////////////
 ///
-
diff --git a/gui/roboglue_gui.h b/gui/roboglue_gui.h
index 86b6a51..5fe56f6 100644
--- a/gui/roboglue_gui.h
+++ b/gui/roboglue_gui.h
@@ -97,6 +97,8 @@ private slots:
 
     void on_btn_setFrame_clicked();
 
+    void on_btn_stopRos_clicked();
+
 signals:
     void robotConnect(QString, uint port, uchar retry);
     void robotDisconnect();