diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index bbb0d04..dd3d8ae 100644
--- a/roboglue_ros_ws.workspace.user
+++ b/roboglue_ros_ws.workspace.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.9.1, 2019-11-12T09:36:03. -->
+<!-- Written by QtCreator 4.9.2, 2019-11-13T15:06:46. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -72,7 +72,7 @@
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{b917fd33-cfca-4cf9-a8d9-025510846768}</value>
    <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">2</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
     <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory"></value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
@@ -124,7 +124,7 @@
      <value type="QString">ROS_PACKAGE_PATH=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src:/opt/ros/kinetic/share</value>
      <value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
      <value type="QString">ROS_VERSION=1</value>
-     <value type="QString">SHLVL=668</value>
+     <value type="QString">SHLVL=750</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>
@@ -483,7 +483,20 @@
       <value type="QString" key="ROSProjectManager.ROSGenericStep.Target">roboglue_ros_urdriver.launch</value>
       <value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/launch/roboglue_ros_urdriver.launch</value>
      </valuemap>
-     <value type="int" key="ProjectExplorer.RunStepList.StepsCount">1</value>
+     <valuemap type="QVariantMap" key="ProjectExplorer.RunStepList.Step.1">
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName"></value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSAttachToNode</value>
+      <value type="bool" key="ProjectExplorer.RunStep.Enabled">true</value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.Arguments"></value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.Command">debug</value>
+      <value type="bool" key="ROSProjectManager.ROSGenericStep.DebugContinueOnAttach">false</value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.Package">roboglue_ros</value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.PackagePath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros</value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.Target">roboglue_ros_recorder</value>
+      <value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib/roboglue_ros/roboglue_ros_recorder</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.RunStepList.StepsCount">2</value>
     </valuemap>
     <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
diff --git a/src/roboglue_ros/config/data/test99.data b/src/roboglue_ros/config/data/test99.data
new file mode 100644
index 0000000..27ed096
--- /dev/null
+++ b/src/roboglue_ros/config/data/test99.data
@@ -0,0 +1,51 @@
+N,X,Y,Z,rR,rP,rY,DT,DS
+N0,0.018000,0.306000,0.500000,1.570000,-2.680000,0.000000,0.000000,0.000000
+N1,0.018000,0.312000,0.500000,1.570000,-2.680000,0.000000,0.095493,0.006000
+N2,0.018000,0.318000,0.500000,1.570000,-2.680000,0.000000,0.177313,0.006000
+N3,0.018000,0.324000,0.500000,1.570000,-2.680000,0.000000,0.276251,0.006000
+N4,-0.006000,0.324000,0.500000,1.570000,-2.680000,0.000000,0.376993,0.024000
+N5,-0.024000,0.312000,0.500000,1.570000,-2.680000,0.000000,0.477276,0.021633
+N6,-0.030000,0.288000,0.500000,1.570000,-2.680000,0.000000,0.583836,0.024739
+N7,-0.048000,0.258000,0.500000,1.570000,-2.680000,0.000000,0.674398,0.034986
+N8,-0.060000,0.246000,0.500000,1.570000,-2.680000,0.000000,0.779036,0.016971
+N9,-0.066000,0.240000,0.500000,1.570000,-2.680000,0.000000,0.878682,0.008485
+N10,-0.078000,0.240000,0.500000,1.570000,-2.680000,0.000000,0.985584,0.012000
+N11,-0.126000,0.240000,0.500000,1.570000,-2.680000,0.000000,1.076938,0.048000
+N12,-0.150000,0.240000,0.500000,1.570000,-2.680000,0.000000,1.173122,0.024000
+N13,-0.162000,0.252000,0.500000,1.570000,-2.680000,0.000000,1.278250,0.016971
+N14,-0.174000,0.258000,0.500000,1.570000,-2.680000,0.000000,1.378685,0.013416
+N15,-0.186000,0.276000,0.500000,1.570000,-2.680000,0.000000,1.484213,0.021633
+N16,-0.198000,0.300000,0.500000,1.570000,-2.680000,0.000000,1.576499,0.026833
+N17,-0.204000,0.324000,0.500000,1.570000,-2.680000,0.000000,1.690293,0.024739
+N18,-0.204000,0.342000,0.500000,1.570000,-2.680000,0.000000,1.780065,0.018000
+N19,-0.204000,0.378000,0.500000,1.570000,-2.680000,0.000000,1.872321,0.036000
+N20,-0.222000,0.450000,0.500000,1.570000,-2.680000,0.000000,1.977848,0.074216
+N21,-0.318000,0.468000,0.500000,1.570000,-2.680000,0.000000,2.070969,0.097673
+N22,-0.396000,0.450000,0.500000,1.570000,-2.680000,0.000000,2.177687,0.080050
+N23,-0.462000,0.348000,0.500000,1.570000,-2.680000,0.000000,2.283137,0.121491
+N24,-0.558000,0.264000,0.500000,1.570000,-2.680000,0.000000,2.392030,0.127562
+N25,-0.636000,0.246000,0.500000,1.570000,-2.680000,0.000000,2.479188,0.080050
+N26,-0.702000,0.306000,0.500000,1.570000,-2.680000,0.000000,2.581360,0.089196
+N27,-0.702000,0.402000,0.500000,1.570000,-2.680000,0.000000,2.672705,0.096000
+N28,-0.618000,0.480000,0.500000,1.570000,-2.680000,0.000000,2.780175,0.114630
+N29,-0.540000,0.468000,0.500000,1.570000,-2.680000,0.000000,2.887023,0.078918
+N30,-0.300000,0.384000,0.500000,1.570000,-2.680000,0.000000,2.980252,0.254275
+N31,-0.126000,0.336000,0.500000,1.570000,-2.680000,0.000000,3.088443,0.180499
+N32,-0.012000,0.318000,0.500000,1.570000,-2.680000,0.000000,3.172616,0.115412
+N33,0.042000,0.372000,0.500000,1.570000,-2.680000,0.000000,3.277146,0.076368
+N34,0.042000,0.396000,0.500000,1.570000,-2.680000,0.000000,3.385895,0.024000
+N35,0.024000,0.390000,0.500000,1.570000,-2.680000,0.000000,3.478245,0.018974
+N36,0.000000,0.288000,0.500000,1.570000,-2.680000,0.000000,3.585851,0.104785
+N37,0.048000,0.234000,0.500000,1.570000,-2.680000,0.000000,3.673290,0.072250
+N38,0.198000,0.252000,0.500000,1.570000,-2.680000,0.000000,3.786958,0.151076
+N39,0.252000,0.306000,0.500000,1.570000,-2.680000,0.000000,3.881606,0.076368
+N40,0.264000,0.336000,0.500000,1.570000,-2.680000,0.000000,3.977590,0.032311
+N41,0.330000,0.234000,0.500000,1.570000,-2.680000,0.000000,4.082062,0.121491
+N42,0.330000,0.162000,0.500000,1.570000,-2.680000,0.000000,4.177567,0.072000
+N43,0.336000,0.102000,0.500000,1.570000,-2.680000,0.000000,4.284022,0.060299
+N44,0.396000,0.096000,0.500000,1.570000,-2.680000,0.000000,4.377034,0.060299
+N45,0.450000,0.144000,0.500000,1.570000,-2.680000,0.000000,4.494896,0.072250
+N46,0.456000,0.252000,0.500000,1.570000,-2.680000,0.000000,4.604838,0.108167
+N47,0.420000,0.300000,0.500000,1.570000,-2.680000,0.000000,4.684846,0.060000
+N48,0.378000,0.324000,0.500000,1.570000,-2.680000,0.000000,4.774341,0.048374
+N49,0.348000,0.324000,0.500000,1.570000,-2.680000,0.000000,4.876254,0.030000
diff --git a/src/roboglue_ros/config/meta/test99.meta b/src/roboglue_ros/config/meta/test99.meta
new file mode 100644
index 0000000..8a83ca5
--- /dev/null
+++ b/src/roboglue_ros/config/meta/test99.meta
@@ -0,0 +1 @@
+{"code":"{613d5288-5d28-465d-996d-db6750a6789c}","ds":0.5,"dt":0.5,"frame_base":"---","frame_work":{"name":"---","offset":{"r":0.0,"x":0.0,"y":0.0,"z":0.0}},"n_analog":0,"n_digital":0,"n_point":50,"name":"test99","type":"time/dist"}
diff --git a/src/roboglue_ros/src/roboglue_recorder.cpp b/src/roboglue_ros/src/roboglue_recorder.cpp
index 5b351c4..78f66b0 100644
--- a/src/roboglue_ros/src/roboglue_recorder.cpp
+++ b/src/roboglue_ros/src/roboglue_recorder.cpp
@@ -39,6 +39,7 @@
 #include "ros/ros.h"
 #include <roboglue_ros/roboglue_utils.h> /// utility function library
 #include <moveit/move_group_interface/move_group_interface.h>
+#include <tf/transform_broadcaster.h>
 ///////// STANDARD LIBRARIES ////////
 #include <iostream>
 #include <fstream>
@@ -90,17 +91,17 @@ void commandCallback(const std_msgs::String::ConstPtr& msg, internalState* is, p
         } else if (!command.compare("SETFRAME")){
             action = params["action"];
             if (!action.compare("reset")){
-                pos->activeFrameName="/world";
+                pos->activeFrameName="world";
                 pos->activeFrame=geometry_msgs::Pose();
             } else if (!action.compare("set")){
                 pos->activeFrameName = params["framename"];
                 geometry_msgs::TwistStamped tempFrame;
-                tempFrame.twist.linear.x = params["frame"]["x"];
-                tempFrame.twist.linear.y = params["frame"]["y"];
-                tempFrame.twist.linear.z = params["frame"]["z"];
-                tempFrame.twist.angular.x = params["frame"]["rx"];
-                tempFrame.twist.angular.y = params["frame"]["ry"];
-                tempFrame.twist.angular.z = params["frame"]["rz"];
+                tempFrame.twist.linear.x = params["frame"]["x"].get<double>()/1000.0;
+                tempFrame.twist.linear.y = params["frame"]["y"].get<double>()/1000.0;
+                tempFrame.twist.linear.z = params["frame"]["z"].get<double>()/1000.0;
+                tempFrame.twist.angular.x = params["frame"]["rx"].get<double>()/1000.0;
+                tempFrame.twist.angular.y = params["frame"]["ry"].get<double>()/1000.0;
+                tempFrame.twist.angular.z = params["frame"]["rz"].get<double>()/1000.0;
                 pos->activeFrame = twist2Pose(tempFrame).pose;
             }
         } else if (!command.compare("RECORD")){
@@ -282,7 +283,7 @@ int main(int argc, char **argv) {
     nh.getParam("/roboglue_ros_recorder/planning_mode", robot_data.planning_mode);
 
     /// set console log level ///
-    ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);
+    ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug);
     /// set spinner rate ///
     ros::Rate loop_rate(common_par.loopRate);
     ROS_INFO("Recorder Node Started");
@@ -350,9 +351,24 @@ int main(int argc, char **argv) {
           /////////////////////////////////////////
          /////////// PLAY FILE ///////////////////
         /////////////////////////////////////////
-        if (is.isPlaying){
-            // verify execution frame and set to default if needed
-            move_group.setPoseReferenceFrame(pos_data.activeFrameName);
+
+        /// temporary variables for TF publication
+        tf::TransformBroadcaster tfBroadcaster;
+        tf::Transform planningFrame;
+        tf::Quaternion frameRot;
+
+        // verify execution frame and set to default if needed
+        if (move_group.getPlanningFrame().compare(pos_data.activeFrameName)){
+            ROS_DEBUG_ONCE("Planning Frame changed and publishing!");
+            planningFrame.setOrigin(tf::Vector3(pos_data.activeFrame.position.x,pos_data.activeFrame.position.y,pos_data.activeFrame.position.z));
+            frameRot.setRPY(pos_data.activeFrame.orientation.x,pos_data.activeFrame.orientation.y,pos_data.activeFrame.orientation.z);
+            frameRot.setRPY(0,0,0);
+            planningFrame.setRotation(frameRot);
+            tfBroadcaster.sendTransform(tf::StampedTransform(planningFrame, ros::Time::now(), "world", "planning_frame"));
+        }
+        move_group.setPoseReferenceFrame("planning_frame");
+
+        if (is.isPlaying){    
             // i -> row counter for temp vector planning in both cartesian and joint mode
             ROS_INFO_COND(i==0,"Start Play file: [%s]", file_data.metaFile->at("name").get<std::string>().c_str());
             if (i < playVector.size()){