diff --git a/devel/lib/libur_rtde_driver.so b/devel/lib/libur_rtde_driver.so
index 2cd1547..0daebe0 100755
Binary files a/devel/lib/libur_rtde_driver.so and b/devel/lib/libur_rtde_driver.so differ
diff --git a/devel/lib/pkgconfig/ur_rtde_driver.pc b/devel/lib/pkgconfig/ur_rtde_driver.pc
index bdc97a8..edb35b8 100644
--- a/devel/lib/pkgconfig/ur_rtde_driver.pc
+++ b/devel/lib/pkgconfig/ur_rtde_driver.pc
@@ -2,7 +2,7 @@ prefix=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/robo
 
 Name: ur_rtde_driver
 Description: Description of ur_rtde_driver
-Version: 0.0.3
+Version: 0.0.2
 Cflags: -I/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_rtde_driver/include -I/usr/include
 Libs: -L/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib -lur_rtde_driver
-Requires: actionlib control_msgs controller_manager geometry_msgs hardware_interface industrial_msgs roscpp sensor_msgs tf tf2_geometry_msgs tf2_msgs trajectory_msgs ur_controllers ur_msgs std_srvs ur_rtde_msgs
+Requires: actionlib control_msgs controller_manager geometry_msgs hardware_interface industrial_msgs roscpp sensor_msgs tf tf2_geometry_msgs tf2_msgs trajectory_msgs ur_controllers std_srvs
diff --git a/devel/lib/ur_calibration/calibration_correction b/devel/lib/ur_calibration/calibration_correction
index 1aef480..30572a0 100755
Binary files a/devel/lib/ur_calibration/calibration_correction and b/devel/lib/ur_calibration/calibration_correction differ
diff --git a/devel/lib/ur_rtde_driver/ur_rtde_driver_node b/devel/lib/ur_rtde_driver/ur_rtde_driver_node
index b90a372..c2ece0f 100755
Binary files a/devel/lib/ur_rtde_driver/ur_rtde_driver_node and b/devel/lib/ur_rtde_driver/ur_rtde_driver_node differ
diff --git a/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig-version.cmake b/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig-version.cmake
index f4f88f8..0b0b17a 100644
--- a/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig-version.cmake
+++ b/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig-version.cmake
@@ -1,5 +1,5 @@
 # generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.3")
+set(PACKAGE_VERSION "0.0.2")
 
 set(PACKAGE_VERSION_EXACT False)
 set(PACKAGE_VERSION_COMPATIBLE False)
diff --git a/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig.cmake b/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig.cmake
index 0209f05..b34f646 100644
--- a/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig.cmake
+++ b/devel/share/ur_rtde_driver/cmake/ur_rtde_driverConfig.cmake
@@ -162,7 +162,7 @@ foreach(t ${ur_rtde_driver_EXPORTED_TARGETS})
   endif()
 endforeach()
 
-set(depends "actionlib;control_msgs;controller_manager;geometry_msgs;hardware_interface;industrial_msgs;roscpp;sensor_msgs;tf;tf2_geometry_msgs;tf2_msgs;trajectory_msgs;ur_controllers;ur_msgs;std_srvs;ur_rtde_msgs")
+set(depends "actionlib;control_msgs;controller_manager;geometry_msgs;hardware_interface;industrial_msgs;roscpp;sensor_msgs;tf;tf2_geometry_msgs;tf2_msgs;trajectory_msgs;ur_controllers;std_srvs")
 foreach(depend ${depends})
   string(REPLACE " " ";" depend_list ${depend})
   # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index b226c65..efc338e 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, 2019-10-21T11:00:10. -->
+<!-- Written by QtCreator 4.9.1, 2019-10-21T11:09:25. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -67,7 +67,7 @@
    <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">1</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</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">
@@ -119,7 +119,7 @@
      <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=124</value>
+     <value type="QString">SHLVL=130</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>