diff --git a/RoboGlue.pro.user b/RoboGlue.pro.user
index bd5c3ac..0542585 100644
--- a/RoboGlue.pro.user
+++ b/RoboGlue.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-11-05T16:47:40. -->
+<!-- Written by QtCreator 4.8.2, 2019-11-12T09:34:56. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/com/roboglue_com.cpp b/com/roboglue_com.cpp
index 7b28096..73a0f35 100644
--- a/com/roboglue_com.cpp
+++ b/com/roboglue_com.cpp
@@ -6,7 +6,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
     liblog->set_level(spdlog::level::warn);
-    modlog->set_level(spdlog::level::trace);
+    modlog->set_level(spdlog::level::warn);
 
     ///////// INITIALIZE TCP SERVER ///////////
     server = new QTcpServer(this);
diff --git a/gui/roboglue_gui.cpp b/gui/roboglue_gui.cpp
index 177a47e..94cdb42 100644
--- a/gui/roboglue_gui.cpp
+++ b/gui/roboglue_gui.cpp
@@ -92,9 +92,9 @@ 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(std::to_string(m->commonStatus.relayTime)));
-    this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerTime)));
-    this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderTime)));
+    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))));
 
     if(m->commonStatus.relayTime > m->comSettings.deadTime ||
             m->commonStatus.followerTime > m->comSettings.deadTime ||
diff --git a/gui/roboglue_gui.ui b/gui/roboglue_gui.ui
index 44eb567..a279a1b 100644
--- a/gui/roboglue_gui.ui
+++ b/gui/roboglue_gui.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1108</width>
-    <height>760</height>
+    <width>948</width>
+    <height>826</height>
    </rect>
   </property>
   <property name="mouseTracking">
@@ -441,7 +441,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -460,7 +460,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -479,7 +479,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -501,7 +501,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -520,7 +520,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -539,7 +539,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -591,7 +591,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -610,7 +610,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -629,7 +629,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -648,7 +648,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -667,7 +667,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -686,7 +686,7 @@
                <string>-</string>
               </property>
               <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               <set>Qt::AlignCenter</set>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::TextSelectableByMouse</set>
@@ -920,7 +920,7 @@
         </item>
         <item row="0" column="0">
          <layout class="QVBoxLayout" name="verticalLayout_2">
-          <item>
+          <item alignment="Qt::AlignHCenter">
            <widget class="QFrame" name="frm_move">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -978,6 +978,9 @@
               <property name="text">
                <string>-</string>
               </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
              </widget>
             </item>
             <item>
@@ -985,6 +988,9 @@
               <property name="text">
                <string>-</string>
               </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
              </widget>
             </item>
             <item>
@@ -992,6 +998,9 @@
               <property name="text">
                <string>-</string>
               </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
              </widget>
             </item>
            </layout>
@@ -1348,7 +1357,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1108</width>
+     <width>948</width>
      <height>22</height>
     </rect>
    </property>
@@ -1370,12 +1379,12 @@
  <resources/>
  <connections/>
  <buttongroups>
-  <buttongroup name="grp_hilo"/>
-  <buttongroup name="grp_mod"/>
   <buttongroup name="gpr_lock">
    <property name="exclusive">
     <bool>false</bool>
    </property>
   </buttongroup>
+  <buttongroup name="grp_hilo"/>
+  <buttongroup name="grp_mod"/>
  </buttongroups>
 </ui>
diff --git a/shared/roboglue_shared.h b/shared/roboglue_shared.h
index cbaa133..cca73e8 100644
--- a/shared/roboglue_shared.h
+++ b/shared/roboglue_shared.h
@@ -92,7 +92,7 @@ public:
             kineDH_t DHtable;
             float maxReach = 1.2;
         } kine;
-        double deadTime = 10.0; //default value
+        double deadTime = 1.0; //default value
         std::map<std::string, std::string> subMap;
         std::map<std::string, std::string> pubMap;
         std::map<std::string, std::string> nodeNames;