diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index c683a93..6ec2f07 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, 2019-10-23T10:49:15. -->
+<!-- Written by QtCreator 4.9.1, 2019-10-23T14:10:27. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -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=178</value>
+     <value type="QString">SHLVL=194</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>
diff --git a/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h b/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
index 540a003..a7ff362 100644
--- a/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
+++ b/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
@@ -96,7 +96,8 @@ typedef struct {
     const robot_state::JointModelGroup* joint_modelGroup;
     robot_model::RobotModelConstPtr kine_model;
     robot_state::RobotStatePtr kine_state;
-    std::vector<std::string> joint_names;
+    std::map<std::string, double> joint_names;
+    std::vector<double> joint_homes;
 } robotData;
 
 typedef struct {
diff --git a/src/roboglue_ros/src/.gitignore b/src/roboglue_ros/src/.gitignore
new file mode 100644
index 0000000..f04bf34
--- /dev/null
+++ b/src/roboglue_ros/src/.gitignore
@@ -0,0 +1 @@
+*.cpp.autosave
diff --git a/src/roboglue_ros/src/roboglue_follower.cpp b/src/roboglue_ros/src/roboglue_follower.cpp
index b0dbc74..9faf16f 100644
--- a/src/roboglue_ros/src/roboglue_follower.cpp
+++ b/src/roboglue_ros/src/roboglue_follower.cpp
@@ -173,6 +173,8 @@ int main(int argc, char **argv) {
     positionData pos_data;
     robotData robot_data;
     auxData aux_data;
+    std::vector<std::string> joint_names;
+
     /// setup node parameters ///
     ros::init(argc, argv, "roboglue_follower");
     ros::NodeHandle nh;
@@ -191,6 +193,7 @@ int main(int argc, char **argv) {
     nh.getParam(param_ns+"OUTtraj_jog", ros_topics.traj_jog);
     nh.getParam(param_ns+"robot_model_name", robot_data.robot_model_name);
     nh.getParam(param_ns+"move_group_name", robot_data.move_group_name);
+    nh.getParam(param_ns+"joint_defaults/jointHomePosition", robot_data.joint_homes);
     nh.getParam("/roboglue_ros_follower/jog_pub_rate", jogPubRate);
 
     /// set spinner rate ///
@@ -247,7 +250,7 @@ int main(int argc, char **argv) {
 ////////////////////////////////////////
 
 // TODO: aggiungere la possibilità di resettare i giunti nella configurazione home a comando da interfaccia
-bool resetModelJointsHome(geometry_msgs::Pose home_pos, bool execute=false) {{
+bool resetModelJointsHome(geometry_msgs::Pose home_pos, bool execute=false) {
     ROS_DEBUG("Setting joint position to home");
     if (execute){
         return false;