diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1691e72..22cf821 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -146,15 +146,15 @@ endif()
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
-include_directories(include 
+include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
 
 # Hardware Interface
-add_library(ur_hardware_interface 
-  src/ros/hardware_interface.cpp 
+add_library(ur_hardware_interface
+  src/ros/hardware_interface.cpp
   src/ros/controller.cpp)
 target_link_libraries(ur_hardware_interface
   ${catkin_LIBRARIES}
@@ -172,6 +172,7 @@ set(${PROJECT_NAME}_SOURCES
     src/ros/rt_publisher.cpp
     src/ros/service_stopper.cpp
     src/ros/trajectory_follower.cpp
+    src/ros/urscript_handler.cpp
     src/ur/stream.cpp
     src/ur/server.cpp
     src/ur/commander.cpp
diff --git a/README.md b/README.md
index 129db51..51427a0 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ A new driver for the UR3/UR5/UR10 robot arms from Universal Robots. It is design
 
 * Besides this, the driver subscribes to two new topics:
 
-  * ~~*/ur\_driver/URScript* : Takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot, conveyor tracking and the like.~~
+  * */ur\_driver/URScript* : Takes messages of type _std\_msgs/String_ and directly forwards it to the robot. Note that no control is done on the input, so use at your own risk! Inteded for sending movel/movej commands directly to the robot, conveyor tracking and the like.
 
   * */joint\_speed* : Takes messages of type _trajectory\_msgs/JointTrajectory_. Parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot. This interface is intended for doing visual servoing and other kind of control that requires speed control rather than position control of the robot. Remember to set values for all 6 joints. Ignores the field joint\_names, so set the values in the correct order.
 
diff --git a/include/ur_modern_driver/pipeline.h b/include/ur_modern_driver/pipeline.h
index ca7058a..ba71009 100644
--- a/include/ur_modern_driver/pipeline.h
+++ b/include/ur_modern_driver/pipeline.h
@@ -99,6 +99,18 @@ public:
   virtual bool tryGet(std::vector<unique_ptr<T>>& products) = 0;
 };
 
+class INotifier
+{
+public:
+  virtual void started(std::string name)
+  {
+  }
+  virtual void stopped(std::string name)
+  {
+  }
+};
+
+
 template <typename T>
 class Pipeline
 {
@@ -107,6 +119,8 @@ private:
   typedef Clock::time_point Time;
   IProducer<T>& producer_;
   IConsumer<T>& consumer_;
+  std::string name_;
+  INotifier& notifier_;
   BlockingReaderWriterQueue<unique_ptr<T>> queue_;
   atomic<bool> running_;
   thread pThread_, cThread_;
@@ -126,15 +140,17 @@ private:
       {
         if (!queue_.try_enqueue(std::move(p)))
         {
-          LOG_ERROR("Pipeline producer overflowed!");
+          LOG_ERROR("Pipeline producer overflowed! <%s>",name_.c_str());
         }
       }
 
       products.clear();
     }
     producer_.teardownProducer();
-    LOG_DEBUG("Pipline producer ended");
+    LOG_DEBUG("Pipeline producer ended! <%s>", name_.c_str());
     consumer_.stopConsumer();
+    running_ = false;
+    notifier_.stopped(name_);
   }
 
   void run_consumer()
@@ -157,13 +173,15 @@ private:
         break;
     }
     consumer_.teardownConsumer();
-    LOG_DEBUG("Pipline consumer ended");
+    LOG_DEBUG("Pipeline consumer ended! <%s>", name_.c_str());
     producer_.stopProducer();
+    running_ = false;
+    notifier_.stopped(name_);
   }
 
 public:
-  Pipeline(IProducer<T>& producer, IConsumer<T>& consumer)
-    : producer_(producer), consumer_(consumer), queue_{ 32 }, running_{ false }
+  Pipeline(IProducer<T>& producer, IConsumer<T>& consumer, std::string name, INotifier& notifier)
+    : producer_(producer), consumer_(consumer), name_(name), notifier_(notifier), queue_{ 32 }, running_{ false }
   {
   }
 
@@ -175,6 +193,7 @@ public:
     running_ = true;
     pThread_ = thread(&Pipeline::run_producer, this);
     cThread_ = thread(&Pipeline::run_consumer, this);
+    notifier_.started(name_);
   }
 
   void stop()
@@ -182,7 +201,7 @@ public:
     if (!running_)
       return;
 
-    LOG_DEBUG("Stopping pipeline");
+    LOG_DEBUG("Stopping pipeline! <%s>",name_.c_str());
 
     consumer_.stopConsumer();
     producer_.stopProducer();
@@ -191,5 +210,6 @@ public:
 
     pThread_.join();
     cThread_.join();
+    notifier_.stopped(name_);
   }
 };
diff --git a/include/ur_modern_driver/ros/urscript_handler.h b/include/ur_modern_driver/ros/urscript_handler.h
new file mode 100644
index 0000000..f5190db
--- /dev/null
+++ b/include/ur_modern_driver/ros/urscript_handler.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <ros/ros.h>
+#include <string>
+
+#include "std_msgs/String.h"
+#include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ros/service_stopper.h"
+#include "ur_modern_driver/ur/commander.h"
+
+class URScriptHandler: public Service
+{
+private:
+
+  ros::NodeHandle nh_;
+  URCommander &commander_;
+  ros::Subscriber urscript_sub_;
+  RobotState state_;
+
+public:
+  URScriptHandler(URCommander &commander);
+  void urscriptInterface(const std_msgs::String::ConstPtr& msg);
+  void onRobotStateChange(RobotState state);
+};
diff --git a/include/ur_modern_driver/ur/commander.h b/include/ur_modern_driver/ur/commander.h
index 8fdffac..6a2b486 100644
--- a/include/ur_modern_driver/ur/commander.h
+++ b/include/ur_modern_driver/ur/commander.h
@@ -10,7 +10,7 @@ private:
   URStream &stream_;
 
 protected:
-  bool write(std::string &s);
+  bool write(const std::string &s);
   void formatArray(std::ostringstream &out, std::array<double, 6> &values);
 
 public:
@@ -23,7 +23,7 @@ public:
   virtual bool setAnalogOut(uint8_t pin, double value) = 0;
 
   // shared
-  bool uploadProg(std::string &s);
+  bool uploadProg(const std::string &s);
   bool stopj(double a = 10.0);
   bool setToolVoltage(uint8_t voltage);
   bool setFlag(uint8_t pin, bool value);
@@ -52,4 +52,4 @@ public:
   virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
   virtual bool setDigitalOut(uint8_t pin, bool value);
   virtual bool setAnalogOut(uint8_t pin, double value);
-};
\ No newline at end of file
+};
diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index 58f7abd..f27efb3 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -14,6 +14,7 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -24,6 +25,7 @@
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
 </launch>
diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch
index 436cb5b..44387a4 100644
--- a/launch/ur10_bringup_compatible.launch
+++ b/launch/ur10_bringup_compatible.launch
@@ -13,6 +13,7 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
+  <arg name="shutdown_on_disconnect" default="true" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
@@ -25,6 +26,7 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="servoj_time"  value="0.08" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
 </launch>
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
index 6cc6ca6..1ca2d8b 100644
--- a/launch/ur10_bringup_joint_limited.launch
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -13,6 +13,7 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
+  <arg name="shutdown_on_disconnect" default="true" />
 
   <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
@@ -20,5 +21,6 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>
diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index a63820f..6eb9dd4 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -14,6 +14,7 @@
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -31,6 +32,7 @@
     <param name="prefix" value="$(arg prefix)" />
     <param name="base_frame" type="str" value="$(arg base_frame)"/>
     <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
+    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
   </node>
 
   <!-- Load controller settings -->
diff --git a/launch/ur3_bringup.launch b/launch/ur3_bringup.launch
index 9e7986d..f4bc006 100644
--- a/launch/ur3_bringup.launch
+++ b/launch/ur3_bringup.launch
@@ -14,6 +14,7 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -25,6 +26,7 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
 </launch>
diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch
index e2c657e..9c70c52 100644
--- a/launch/ur3_bringup_joint_limited.launch
+++ b/launch/ur3_bringup_joint_limited.launch
@@ -13,6 +13,7 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
+  <arg name="shutdown_on_disconnect" default="true" />
 
   <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
@@ -20,5 +21,6 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>
diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index 6e88e9f..2da4123 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -14,6 +14,7 @@
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -31,6 +32,7 @@
     <param name="prefix" value="$(arg prefix)" />
     <param name="base_frame" type="str" value="$(arg base_frame)"/>
     <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
+    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
   </node>
 
   <!-- Load controller settings -->
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
index eeaa318..303d253 100644
--- a/launch/ur5_bringup.launch
+++ b/launch/ur5_bringup.launch
@@ -14,6 +14,7 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -25,6 +26,7 @@
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
 </launch>
diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch
index 31f7b0b..c8383bf 100644
--- a/launch/ur5_bringup_compatible.launch
+++ b/launch/ur5_bringup_compatible.launch
@@ -13,6 +13,7 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
+  <arg name="shutdown_on_disconnect" default="true" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
@@ -25,6 +26,7 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="servoj_time"  value="0.08" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
 </launch>
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
index 643f5c4..3640a2d 100644
--- a/launch/ur5_bringup_joint_limited.launch
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -2,23 +2,25 @@
 <!--
   Universal robot ur5 launch. Wraps ur5_bringup.launch. Uses the 'limited'
   joint range [-PI, PI] on all joints.
-  
+
   Usage:
     ur5_bringup_joint_limited.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
-  
+  <arg name="shutdown_on_disconnect" default="true" />
+
   <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index c240b7b..ccf5d79 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -14,6 +14,7 @@
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
+  <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
@@ -31,6 +32,7 @@
     <param name="prefix" value="$(arg prefix)" />
     <param name="base_frame" type="str" value="$(arg base_frame)"/>
     <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
+    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
   </node>
 
   <!-- Load controller settings -->
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index 95c3198..aad4c6d 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -15,6 +15,7 @@
   <arg name="servoj_time" default="0.008" />
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
+  <arg name="shutdown_on_disconnect" default="true" />
 
   <!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
   <arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
@@ -25,7 +26,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
   <!-- driver -->
-  <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
+  <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen" respawn="">
   <!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
     <param name="prefix" type="str" value="$(arg prefix)" />
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
@@ -36,5 +37,6 @@
     <param name="base_frame" type="str" value="$(arg base_frame)"/>
     <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
     <param name="require_activation" type="str" value="$(arg require_activation)" />
+    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
   </node>
 </launch>
diff --git a/src/ros/urscript_handler.cpp b/src/ros/urscript_handler.cpp
new file mode 100644
index 0000000..c2e5fe7
--- /dev/null
+++ b/src/ros/urscript_handler.cpp
@@ -0,0 +1,42 @@
+#include "ur_modern_driver/ros/urscript_handler.h"
+#include "ur_modern_driver/log.h"
+
+URScriptHandler::URScriptHandler(URCommander &commander)
+    : commander_(commander)
+    , state_(RobotState::Error)
+{
+    LOG_INFO("Initializing ur_driver/URScript subscriber");
+    urscript_sub_ = nh_.subscribe("ur_driver/URScript", 1, &URScriptHandler::urscriptInterface, this);
+    LOG_INFO("The ur_driver/URScript initialized");
+}
+
+void URScriptHandler::urscriptInterface(const std_msgs::String::ConstPtr& msg)
+{
+  LOG_INFO("Message received");
+  switch (state_)
+  {
+    case RobotState::Running:
+      if (!commander_.uploadProg(msg->data))
+      {
+        LOG_ERROR("Program upload failed!");
+      }
+      break;
+    case RobotState::EmergencyStopped:
+      LOG_ERROR("Robot is emergency stopped");
+      break;
+    case RobotState::ProtectiveStopped:
+      LOG_ERROR("Robot is protective stopped");
+      break;
+    case RobotState::Error:
+      LOG_ERROR("Robot is not ready, check robot_mode");
+      break;
+    default:
+      LOG_ERROR("Robot is in undefined state");
+      break;
+  }
+}
+
+void URScriptHandler::onRobotStateChange(RobotState state)
+{
+   state_ = state;
+}
diff --git a/src/ros_main.cpp b/src/ros_main.cpp
index 9d037d5..123ecc4 100644
--- a/src/ros_main.cpp
+++ b/src/ros_main.cpp
@@ -13,6 +13,7 @@
 #include "ur_modern_driver/ros/rt_publisher.h"
 #include "ur_modern_driver/ros/service_stopper.h"
 #include "ur_modern_driver/ros/trajectory_follower.h"
+#include "ur_modern_driver/ros/urscript_handler.h"
 #include "ur_modern_driver/ur/commander.h"
 #include "ur_modern_driver/ur/factory.h"
 #include "ur_modern_driver/ur/messages.h"
@@ -30,6 +31,7 @@ static const std::string BASE_FRAME_ARG("~base_frame");
 static const std::string TOOL_FRAME_ARG("~tool_frame");
 static const std::string TCP_LINK_ARG("~tcp_link");
 static const std::string JOINT_NAMES_PARAM("hardware_interface/joints");
+static const std::string SHUTDOWN_ON_DISCONNECT_ARG("~shutdown_on_disconnect");
 
 static const std::vector<std::string> DEFAULT_JOINTS = { "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
                                                          "wrist_1_joint",      "wrist_2_joint",       "wrist_3_joint" };
@@ -51,8 +53,34 @@ public:
   double max_vel_change;
   int32_t reverse_port;
   bool use_ros_control;
+  bool shutdown_on_disconnect;
 };
 
+class IgnorePipelineStoppedNotifier : public INotifier
+{
+public:
+    void started(std::string name){
+        LOG_INFO("Starting pipeline %s", name.c_str());
+    }
+    void stopped(std::string name){
+        LOG_INFO("Stopping pipeline %s", name.c_str());
+    }
+};
+
+class ShutdownOnPipelineStoppedNotifier : public INotifier
+{
+public:
+    void started(std::string name){
+        LOG_INFO("Starting pipeline %s", name.c_str());
+    }
+    void stopped(std::string name){
+        LOG_INFO("Shutting down on stopped pipeline %s", name.c_str());
+        ros::shutdown();
+        exit(1);
+    }
+};
+
+
 bool parse_args(ProgArgs &args)
 {
   if (!ros::param::get(IP_ADDR_ARG, args.host))
@@ -69,6 +97,7 @@ bool parse_args(ProgArgs &args)
   ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller");
   ros::param::param(TCP_LINK_ARG, args.tcp_link, args.prefix + "tool0");
   ros::param::param(JOINT_NAMES_PARAM, args.joint_names, DEFAULT_JOINTS);
+  ros::param::param(SHUTDOWN_ON_DISCONNECT_ARG, args.shutdown_on_disconnect, true);
   return true;
 }
 
@@ -107,6 +136,7 @@ int main(int argc, char **argv)
 
   TrajectoryFollower traj_follower(*rt_commander, local_ip, args.reverse_port, factory.isVersion3());
 
+  INotifier *notifier(nullptr);
   ROSController *controller(nullptr);
   ActionServer *action_server(nullptr);
   if (args.use_ros_control)
@@ -124,8 +154,21 @@ int main(int argc, char **argv)
     services.push_back(action_server);
   }
 
+  URScriptHandler urscript_handler(*rt_commander);
+  services.push_back(&urscript_handler);
+  if (args.shutdown_on_disconnect)
+  {
+    LOG_INFO("Notifier: Pipeline disconnect will shutdown the node");
+    notifier = new ShutdownOnPipelineStoppedNotifier();
+  }
+  else
+  {
+    LOG_INFO("Notifier: Pipeline disconnect will be ignored.");
+    notifier = new IgnorePipelineStoppedNotifier();
+  }
+
   MultiConsumer<RTPacket> rt_cons(rt_vec);
-  Pipeline<RTPacket> rt_pl(rt_prod, rt_cons);
+  Pipeline<RTPacket> rt_pl(rt_prod, rt_cons, "RTPacket", *notifier);
 
   // Message packets
   auto state_parser = factory.getStateParser();
@@ -137,7 +180,7 @@ int main(int argc, char **argv)
 
   vector<IConsumer<StatePacket> *> state_vec{ &state_pub, &service_stopper };
   MultiConsumer<StatePacket> state_cons(state_vec);
-  Pipeline<StatePacket> state_pl(state_prod, state_cons);
+  Pipeline<StatePacket> state_pl(state_prod, state_cons, "StatePacket", *notifier);
 
   LOG_INFO("Starting main loop");
 
diff --git a/src/ur/commander.cpp b/src/ur/commander.cpp
index 96fde7d..5c752f0 100644
--- a/src/ur/commander.cpp
+++ b/src/ur/commander.cpp
@@ -1,7 +1,7 @@
 #include "ur_modern_driver/ur/commander.h"
 #include "ur_modern_driver/log.h"
 
-bool URCommander::write(std::string &s)
+bool URCommander::write(const std::string &s)
 {
   size_t len = s.size();
   const uint8_t *data = reinterpret_cast<const uint8_t *>(s.c_str());
@@ -20,8 +20,9 @@ void URCommander::formatArray(std::ostringstream &out, std::array<double, 6> &va
   out << "]";
 }
 
-bool URCommander::uploadProg(std::string &s)
+bool URCommander::uploadProg(const std::string &s)
 {
+  LOG_DEBUG("Sending program [%s]",s.c_str());
   return write(s);
 }