diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index 8440f66..c056b09 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, 2019-10-21T15:05:40. -->
+<!-- Written by QtCreator 4.9.1, 2019-10-23T10:43:57. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -57,6 +57,11 @@
   <valuemap type="QVariantMap">
    <valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
    <value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
+   <value type="bool" key="ClangTools.BuildBeforeAnalysis">false</value>
+   <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
+   <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
+   <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
+   <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
   </valuemap>
  </data>
  <data>
@@ -119,7 +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=150</value>
+     <value type="QString">SHLVL=172</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
     </valuelist>
diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
new file mode 100644
index 0000000..aba6786
--- /dev/null
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
@@ -0,0 +1,69 @@
+<launch>
+    <!-- Set logger format -->
+    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}]: ${message}" />
+    <!--    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
+
+    <!-- Start ROS official URobotics controller -->
+    <include file="$(find ur_robot_driver)/launch/ur10e_bringup.launch">
+        <arg name="robot_ip" value="10.0.0.5" />
+    </include>
+
+    <!-- Start moveit API interface-->
+    <include file="$(find ur10_e_moveit_config)/launch/ur10_e_moveit_planning_execution.launch">
+        <!-- <arg name="robot_ip" value="10.0.0.5" /> -->
+    </include>
+
+    <!-- Common parameter Server -->
+    <group ns="roboglue_ros_common">
+        <param name="INstate"   type="string" value="/roboglue_com/com2ros/state" />
+        <param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
+        <param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
+        <param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
+        <param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
+        <param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
+        <param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
+        <param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
+        <param name="OUTtraj_jog" type="string" value="/pos_based_pos_traj_controller/command" />
+        <param name="robot_model_name" type="string" value="robot_description" />
+        <param name="move_group_name" type="string" value="manipulator" />
+        <param name="loop_rate" type="int" value="100" />
+        <param name="msg_buffer" type="int" value="100" />
+        <param name="min_nonzero_move" type="double" value="0.005" />
+    </group>
+
+    <!-- Message Relay to/from MQTT -->
+    <node name="roboglue_ros_relay" pkg="roboglue_ros" type="roboglue_ros_relay" output="screen" required="true">
+        <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
+        <param name="mqtt_host" type="string" value="tcp://localhost:1883" />
+        <param name="mqtt_qos" type="int" value="0" />
+        <param name="mqtt_INstate" type="string" value="roboglue_com/com2ros/state" />
+        <param name="mqtt_INcommands" type="string" value="roboglue_com/com2ros/commands" />
+        <param name="mqtt_INcoordinates" type="string" value="roboglue_com/com2ros/coordinates" />
+        <param name="mqtt_OUTstate" type="string" value="roboglue_com/ros2com/state" />
+        <param name="mqtt_OUTcommands" type="string" value="roboglue_com/ros2com/commands" />
+        <param name="mqtt_OUTcoordinates" type="string" value="roboglue_com/ros2com/coordinates" />
+    </node>
+
+    <!-- Real Time Tracking -->
+    <node name="roboglue_ros_follower" pkg="roboglue_ros" type="roboglue_ros_follower" output="screen" required="true">
+        <param name="parameter_ns" type="string" value="roboglue_ros_common" />
+        <param name="jog_pub_rate" type="int" value="5" />
+    </node>
+
+    <!-- Tracking data Recorder/Player -->
+    <node name="roboglue_ros_recorder" pkg="roboglue_ros" type="roboglue_ros_recorder" output="screen" required="true">
+        <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
+        <param name="point_group_mode" type="string" value="dist" />
+        <param name="planning_mode" type="string" value="path" />
+        <param name="meta_dir" type="string" value="/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/config/meta/" />
+        <param name="data_dir" type="string" value="/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/config/data/" />
+        <param name="meta_ext" type="string" value=".meta" />
+        <param name="data_ext" type="string" value=".data" />
+        <param name="meta_template" type="string" value="@meta_template.meta" />
+        <param name="data_template" type="string" value="@data_template.data" />
+    </node>
+
+    <!-- <param name="planning_mode" type="string" value="joint" />   -->
+    <!-- <param name="point_group_mode" type="string" value="time" /> -->
+
+</launch>