diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
index 4d3b381..426d14e 100644
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
@@ -1,6 +1,6 @@
 <launch>
     <!-- Set logger format -->
-    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}]: ${message}" />
+    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}][${line}]: ${message}" />
     <!--    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
 
     <!-- Start ROS official URobotics controller -->
@@ -20,48 +20,58 @@
 
     <!-- Common parameter Server -->
     <group ns="roboglue_ros_common">
+        <!-- ROS internal topics -->
         <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="INinterface" type="string" value="/roboglue_com/com2ros/interface" />
         <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="OUTinterface" type="string" value="/roboglue_com/ros2com/interface" />
+        <!-- ROS movement topics (For UR official driver use scalable position controller) -->
         <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="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
+        <!-- ROS robot model description and defaults -->
         <param name="robot_model_name" type="string" value="robot_description" />
         <param name="move_group_name" type="string" value="manipulator" />
+        <param name="min_nonzero_move" type="double" value="0.005" />
+        <param name="joint_jump_tresh" type="double" value="45.0" />
+        <param name="default_frame_name" type="string" value= "/world"/>
+        <rosparam command="load" file="$(find roboglue_ros)/config/jointDefaults.yaml" />
+        <!-- ROS node loop parameters -->
+        <param name="startup_msg" type="string" value="STARTUP"/>
+        <param name="shutdown_msg" type="string" value="SHUTDOWN"/>
+        <param name="heartbeat_msg" type="string" value="HB"/>
         <param name="loop_rate" type="int" value="100" />
         <param name="msg_buffer" type="int" value="100" />
-        <param name="joint_jump_tresh" type="double" value="45.0" />
-        <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="startup_msg" type="string" value='{"STARTUP":"RELAY"}'/>
         <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_INinterface" type="string" value="roboglue_com/com2ros/interface" />
         <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" />
+        <param name="mqtt_OUTinterface" type="string" value="roboglue_com/ros2com/interface" />
     </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="startup_msg" type="string" value='{"STARTUP":"FOLLOWER"}'/>
         <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="startup_msg" type="string" value='{"STARTUP":"RECORDER"}'/>
         <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/" />
@@ -72,4 +82,7 @@
         <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>