diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index efc338e..8d881f1 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, 2019-10-21T11:09:25. -->
+<!-- Written by QtCreator 4.9.1, 2019-10-21T14:45:10. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -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=130</value>
+     <value type="QString">SHLVL=138</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>
diff --git a/src/roboglue_ros/package.xml b/src/roboglue_ros/package.xml
index 10107c6..1ec8280 100644
--- a/src/roboglue_ros/package.xml
+++ b/src/roboglue_ros/package.xml
@@ -26,7 +26,7 @@
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-  <author >Emanuele</author>
+  <author>Emanuele</author>
 
 
   <!-- The *depend tags are used to specify dependencies -->
diff --git a/src/universal_robot b/src/universal_robot
index 2665f4b..5eca4e6 160000
--- a/src/universal_robot
+++ b/src/universal_robot
@@ -1 +1 @@
-Subproject commit 2665f4bed158a8962e7ed72c7a83835cb872b59b
+Subproject commit 5eca4e6df1acb004c63a9a55ca9bd773eb1d3f32
diff --git a/src/universal_robots_ros_driver b/src/universal_robots_ros_driver
index c714759..745b2c5 160000
--- a/src/universal_robots_ros_driver
+++ b/src/universal_robots_ros_driver
@@ -1 +1 @@
-Subproject commit c714759413a384014a45fa36ec94ec5b91e6d796
+Subproject commit 745b2c5fb73b4ab0dbf6aa4761f6fd6dc8fe0c79