diff --git a/build.sh b/build.sh
index 748846a..69676d7 100755
--- a/build.sh
+++ b/build.sh
@@ -1,4 +1,4 @@
 #!/bin/bash
 pushd "$(dirname "$0")" || exit
-colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja
+colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja
 popd || exit
diff --git a/gz_ros2_control b/gz_ros2_control
deleted file mode 160000
index 55dd768..0000000
--- a/gz_ros2_control
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 55dd7680ff7234c825efa1dd0c104e5629448972
diff --git a/src/btree/src/Extensions.cpp b/src/btree/src/Extensions.cpp
index f4827ab..d90a6d9 100644
--- a/src/btree/src/Extensions.cpp
+++ b/src/btree/src/Extensions.cpp
@@ -2,11 +2,10 @@
 // Created by bastian on 28.02.22.
 //
 
-#include "Area.h"
-#include <geometry_msgs/msg/pose.hpp>
+#include "Extensions.hpp"
 
 namespace BT {
-    template<>
+    template<> [[nodiscard]]
     std::shared_ptr<Position2D> convertFromString(StringView str) {
         auto split = splitString(str, ',');
         if (split.size() != 2) {
@@ -19,7 +18,7 @@ namespace BT {
         return pos;
     }
 
-    template<>
+    template<> [[nodiscard]]
     std::shared_ptr<Area> convertFromString(StringView str) {
         auto parts = splitString(str, '|');
         if (parts.size() < 3) {
@@ -35,7 +34,7 @@ namespace BT {
         return output;
     }
 
-    template<>
+    template<> [[nodiscard]]
     std::shared_ptr<geometry_msgs::msg::Pose> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (!(parts.size() == 3 || parts.size() == 7)) {
@@ -61,7 +60,7 @@ namespace BT {
         return pose;
     }
 
-    template<>
+    template<> [[nodiscard]]
     std::shared_ptr<geometry_msgs::msg::Point> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (parts.size() != 3) {
@@ -76,7 +75,7 @@ namespace BT {
         return point;
     }
 
-    template<>
+    template<> [[nodiscard]]
     std::shared_ptr<geometry_msgs::msg::Quaternion> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (parts.size() != 4) {
diff --git a/src/btree/src/Extensions.hpp b/src/btree/src/Extensions.hpp
new file mode 100644
index 0000000..cdca2c2
--- /dev/null
+++ b/src/btree/src/Extensions.hpp
@@ -0,0 +1,27 @@
+//
+// Created by bastian on 28.02.22.
+//
+#ifndef BUILD_EXTENSIONS_H
+#define BUILD_EXTENSIONS_H
+
+#include "Area.h"
+#include <geometry_msgs/msg/pose.hpp>
+
+namespace BT {
+    template<> [[nodiscard]]
+    std::shared_ptr<Position2D> convertFromString(StringView str);
+    
+    template<> [[nodiscard]]
+    std::shared_ptr<Area> convertFromString(StringView str);
+    
+    template<> [[nodiscard]]
+    std::shared_ptr<geometry_msgs::msg::Pose> convertFromString(StringView str);
+    
+    template<> [[nodiscard]]
+    std::shared_ptr<geometry_msgs::msg::Point> convertFromString(StringView str);
+    
+    template<> [[nodiscard]]
+    std::shared_ptr<geometry_msgs::msg::Quaternion> convertFromString(StringView str);
+}
+
+#endif //BUILD_EXTENSIONS_H
\ No newline at end of file
diff --git a/src/btree/src/Tree.cpp b/src/btree/src/Tree.cpp
index 918c7c4..0b04fbd 100644
--- a/src/btree/src/Tree.cpp
+++ b/src/btree/src/Tree.cpp
@@ -1,7 +1,10 @@
+#include "Extensions.hpp"
 #include "Area.h"
 #include <behaviortree_cpp_v3/basic_types.h>
 #include <behaviortree_cpp_v3/blackboard.h>
 #include <behaviortree_cpp_v3/bt_factory.h>
+#include <boost/exception/exception.hpp>
+#include <geometry_msgs/msg/detail/pose__struct.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <random>
@@ -20,9 +23,13 @@
 #include <chrono>
 #include <thread>
 
+using namespace BT;
+
 int main(int argc, char **argv) {
     rclcpp::init(argc, argv);
     rclcpp::NodeOptions node_options;
+    
+    convertFromString<std::shared_ptr<geometry_msgs::msg::Pose>>("0,0,0");
 
     auto mainNode = rclcpp::Node::make_shared("tree_general_node", node_options);
     
@@ -51,12 +58,12 @@ int main(int argc, char **argv) {
     auto connection = std::make_shared<MoveConnection>(moveNode, "arm");
     executor.add_node(moveNode);
 
-    factory.registerBuilder<RobotMove>("RobotMove", [&connection](const std::string &name, const NodeConfiguration &config) {
-        return std::make_unique<RobotMove>(name, config, &connection);
+    factory.registerBuilder<RobotMove>("RobotMove", [connection](const std::string &name, const NodeConfiguration &config) {
+        return std::make_unique<RobotMove>(name, config, connection);
     });
 
-    factory.registerBuilder<SetRobotVelocity>("SetRobotVelocity", [&connection](const std::string &name, const NodeConfiguration &config) {
-        return std::make_unique<SetRobotVelocity>(name, config, &connection);
+    factory.registerBuilder<SetRobotVelocity>("SetRobotVelocity", [connection](const std::string &name, const NodeConfiguration &config) {
+        return std::make_unique<SetRobotVelocity>(name, config, connection);
     });
 
     
diff --git a/src/btree/src/nodes/ActorAnimation.cpp b/src/btree/src/nodes/ActorAnimation.cpp
index eba6da3..305faa3 100644
--- a/src/btree/src/nodes/ActorAnimation.cpp
+++ b/src/btree/src/nodes/ActorAnimation.cpp
@@ -18,7 +18,7 @@ BT::PortsList ActorAnimation::providedPorts() {
 }
 
 BT::NodeStatus ActorAnimation::onStart() {
-    std::cout << "started animation" << std::endl;
+    std::cout << "started actor animation" << std::endl;
 
     ros_actor_action_server_msgs::action::Animation::Goal goal;
 
@@ -37,8 +37,10 @@ BT::NodeStatus ActorAnimation::onStart() {
     send_goal_options.result_callback = [=](const ClientGoalHandle<Animation>::WrappedResult & parameter) {
         mutex.lock();
         if(parameter.code == ResultCode::SUCCEEDED){
+            std::cout << "finished actor animation" << std::endl;
             result = BT::NodeStatus::SUCCESS;
         }else{
+            std::cout << "failed actor animation" << std::endl;
             result = BT::NodeStatus::FAILURE;
         }
         mutex.unlock();
@@ -53,14 +55,12 @@ BT::NodeStatus ActorAnimation::onStart() {
 BT::NodeStatus ActorAnimation::onRunning() {
     mutex.lock();
     auto status = result;
-    if(result != BT::NodeStatus::RUNNING){
-        result = BT::NodeStatus::IDLE;
-    }
     mutex.unlock();
     return status;
 }
 
 void ActorAnimation::onHalted() {
-    std::cout << "halted animation" << std::endl;
+    std::cout << "halted actor animation" << std::endl;
     client->async_cancel_all_goals();
+    result = BT::NodeStatus::FAILURE;
 }
diff --git a/src/btree/src/nodes/ActorMovement.cpp b/src/btree/src/nodes/ActorMovement.cpp
index 3a0362a..fa1d8b1 100644
--- a/src/btree/src/nodes/ActorMovement.cpp
+++ b/src/btree/src/nodes/ActorMovement.cpp
@@ -2,6 +2,7 @@
 // Created by bastian on 26.03.22.
 //
 
+#include "../Extensions.hpp"
 #include "ActorMovement.h"
 #include <action_msgs/msg/detail/goal_status__struct.hpp>
 #include <behaviortree_cpp_v3/basic_types.h>
@@ -22,7 +23,7 @@ BT::PortsList ActorMovement::providedPorts() {
 }
 
 BT::NodeStatus ActorMovement::onStart() {
-    std::cout << "started moving" << std::endl;
+    std::cout << "started actor movement" << std::endl;
 
     ros_actor_action_server_msgs::action::Movement::Goal goal;
 
@@ -51,10 +52,10 @@ BT::NodeStatus ActorMovement::onStart() {
     send_goal_options.result_callback = [&](ClientGoalHandle<Movement>::WrappedResult parameter) {
         mutex.lock();
         if(parameter.code == ResultCode::SUCCEEDED){
-            std::cout << "Success?" << std::endl;
+            std::cout << "finished actor movement" << std::endl;
             result = BT::NodeStatus::SUCCESS;
         }else{
-            std::cout << "Failure?" << std::endl;
+            std::cout << "failed actor movement" << std::endl;
             result = BT::NodeStatus::FAILURE;
         }
         mutex.unlock();
@@ -81,15 +82,12 @@ BT::NodeStatus ActorMovement::onStart() {
 BT::NodeStatus ActorMovement::onRunning() {
     mutex.lock();
     auto status = result;
-    if(result != BT::NodeStatus::RUNNING){
-        result = BT::NodeStatus::IDLE;
-    }
     mutex.unlock();
     return status;
 }
 
 void ActorMovement::onHalted() {
-    std::cout << "halted move" << std::endl;
+    std::cout << "halted actor movement" << std::endl;
     client->async_cancel_all_goals();
-    result = BT::NodeStatus::IDLE;
+    result = BT::NodeStatus::FAILURE;
 }
diff --git a/src/btree/src/nodes/GenerateXYPose.cpp b/src/btree/src/nodes/GenerateXYPose.cpp
index 4ace1c4..51a156e 100644
--- a/src/btree/src/nodes/GenerateXYPose.cpp
+++ b/src/btree/src/nodes/GenerateXYPose.cpp
@@ -83,7 +83,6 @@ BT::NodeStatus BT::GenerateXYPose::tick() {
     randomPose->orientation.y = 0;
     randomPose->orientation.z = 0;
 
-    printf("Generated Target: %f %f\n", pos.x, pos.y);
     setOutput<std::shared_ptr<geometry_msgs::msg::Pose>>("pose", randomPose);
     return NodeStatus::SUCCESS;
 }
diff --git a/src/btree/src/nodes/InterruptableSequence.cpp b/src/btree/src/nodes/InterruptableSequence.cpp
index 8d9dab8..84a6b7a 100644
--- a/src/btree/src/nodes/InterruptableSequence.cpp
+++ b/src/btree/src/nodes/InterruptableSequence.cpp
@@ -18,7 +18,7 @@ BT::NodeStatus BT::InterruptableSequence::tick() {
     setStatus(NodeStatus::RUNNING);
 
     if(result==NodeStatus::FAILURE){
-        haltChildren();
+        resetChildren();
         position=0;
         return NodeStatus::FAILURE;
     }
@@ -26,7 +26,7 @@ BT::NodeStatus BT::InterruptableSequence::tick() {
     if(result==NodeStatus::SUCCESS){
         position++;
         if(position>=children_nodes_.size()){
-            haltChildren();
+            resetChildren();
             position=0;
             return NodeStatus::SUCCESS;
         }
diff --git a/src/btree/src/nodes/MoveConnection.cpp b/src/btree/src/nodes/MoveConnection.cpp
index 36ebe1b..6b14da3 100644
--- a/src/btree/src/nodes/MoveConnection.cpp
+++ b/src/btree/src/nodes/MoveConnection.cpp
@@ -11,20 +11,19 @@ void MoveConnection::planAndExecute(const std::shared_ptr<geometry_msgs::msg::Po
     std::cout<<"planAndExecute."<<std::endl;
     lock.lock();
     state = RUNNING;
-    std::cout<<"got lock."<<std::endl;
     lastTarget = pose;
     lastCallback = callback;
 
     moveGroup.setMaxVelocityScalingFactor(currentSpeed);
     moveGroup.setMaxAccelerationScalingFactor(1);
+    
+    moveGroup.setPoseTarget(*lastTarget);
+    moveGroup.setGoalJointTolerance(0.01);
+    moveGroup.setGoalOrientationTolerance(0.01);
 
     std::cout<<"Starting planning"<<std::endl;
 
     std::thread([&](){
-        moveGroup.setPoseTarget(*lastTarget);
-        moveGroup.setGoalJointTolerance(0.01);
-        moveGroup.setGoalOrientationTolerance(0.01);
-
         std::cout<<"Parameters set."<<std::endl;
         
         auto finished = moveGroup.move() == moveit::core::MoveItErrorCode::SUCCESS;
diff --git a/src/btree/src/nodes/MoveConnection.h b/src/btree/src/nodes/MoveConnection.h
index a75e695..17290cd 100644
--- a/src/btree/src/nodes/MoveConnection.h
+++ b/src/btree/src/nodes/MoveConnection.h
@@ -12,7 +12,7 @@
 
 class MoveConnection {
 private:
-    enum {IDLE,RUNNING,SPEED_CHANGE} state;
+    enum {IDLE,RUNNING,SPEED_CHANGE} state = IDLE;
     moveit::planning_interface::MoveGroupInterface moveGroup;
     std::shared_ptr<geometry_msgs::msg::Pose> lastTarget = nullptr;
     std::function<void(bool)> lastCallback = [](__attribute__((unused))bool finished) {};
diff --git a/src/btree/src/nodes/RobotMove.cpp b/src/btree/src/nodes/RobotMove.cpp
index 0614ca7..6387e63 100644
--- a/src/btree/src/nodes/RobotMove.cpp
+++ b/src/btree/src/nodes/RobotMove.cpp
@@ -5,7 +5,7 @@
 #include "RobotMove.h"
 
 BT::RobotMove::RobotMove(const std::string &name, const BT::NodeConfiguration &config,
-                         std::shared_ptr<MoveConnection> *connection)
+                         std::shared_ptr<MoveConnection> connection)
         : StatefulActionNode(name, config) {
     this->connection = connection;
 }
@@ -20,7 +20,7 @@ BT::NodeStatus BT::RobotMove::onStart() {
     printf("X:%f Y:%f Z:%f\n",pose->position.x,pose->position.y,pose->position.z);
     printf("W:%f X:%f Y:%f Z:%f\n",pose->orientation.w,pose->orientation.x,pose->orientation.y,pose->orientation.z);
     asyncResult = NodeStatus::RUNNING;
-    connection->get()->planAndExecute(pose,[this](bool finished){
+    connection->planAndExecute(pose,[this](bool finished){
         if(finished){
             printf("Finished move.");
             asyncResult = NodeStatus::SUCCESS;
@@ -42,7 +42,7 @@ BT::NodeStatus BT::RobotMove::onRunning() {
 
 void BT::RobotMove::onHalted() {
     std::cout << "Halting RobotMove" << std::endl;
-    connection->get()->stop();
+    connection->stop();
     asyncResult=NodeStatus::FAILURE;
 }
 
diff --git a/src/btree/src/nodes/RobotMove.h b/src/btree/src/nodes/RobotMove.h
index c37846e..7ee0dbd 100644
--- a/src/btree/src/nodes/RobotMove.h
+++ b/src/btree/src/nodes/RobotMove.h
@@ -16,12 +16,12 @@ namespace BT {
 
     class RobotMove : public StatefulActionNode {
     private:
-        std::shared_ptr<MoveConnection> *connection;
+        std::shared_ptr<MoveConnection> connection;
         NodeStatus asyncResult = NodeStatus::FAILURE;
 
     public:
         RobotMove(const std::string &name, const BT::NodeConfiguration &config,
-                  std::shared_ptr<MoveConnection> *connection);
+                  std::shared_ptr<MoveConnection> connection);
 
         NodeStatus onStart() override;
 
diff --git a/src/btree/src/nodes/SetRobotVelocity.cpp b/src/btree/src/nodes/SetRobotVelocity.cpp
index fa4a9a2..b211b34 100644
--- a/src/btree/src/nodes/SetRobotVelocity.cpp
+++ b/src/btree/src/nodes/SetRobotVelocity.cpp
@@ -11,7 +11,7 @@ BT::NodeStatus BT::SetRobotVelocity::tick() {
         std::cout<<"No velocity given."<<std::endl;
         return NodeStatus::FAILURE;
     }
-    connection->get()->setSpeedMultiplier(velocity);
+    connection->setSpeedMultiplier(velocity);
     return NodeStatus::SUCCESS;
 }
 
@@ -21,7 +21,7 @@ BT::PortsList BT::SetRobotVelocity::providedPorts() {
     };
 }
 
-BT::SetRobotVelocity::SetRobotVelocity(const std::string &name, const BT::NodeConfiguration &config, std::shared_ptr<MoveConnection> *connection) : SyncActionNode(
+BT::SetRobotVelocity::SetRobotVelocity(const std::string &name, const BT::NodeConfiguration &config, std::shared_ptr<MoveConnection> connection) : SyncActionNode(
         name, config) {
     this->connection = connection;
 }
diff --git a/src/btree/src/nodes/SetRobotVelocity.h b/src/btree/src/nodes/SetRobotVelocity.h
index 7324050..217db5d 100644
--- a/src/btree/src/nodes/SetRobotVelocity.h
+++ b/src/btree/src/nodes/SetRobotVelocity.h
@@ -11,11 +11,11 @@
 namespace BT {
     class SetRobotVelocity: public SyncActionNode {
     private:
-        std::shared_ptr<MoveConnection> *connection{};
+        std::shared_ptr<MoveConnection> connection;
 
     public:
         SetRobotVelocity(const std::string &name, const NodeConfiguration &config,
-                std::shared_ptr<MoveConnection> *connection);
+                std::shared_ptr<MoveConnection> connection);
 
         static PortsList providedPorts();
 
diff --git a/src/btree/src/nodes/WeightedRandomNode.cpp b/src/btree/src/nodes/WeightedRandomNode.cpp
index 7cf0589..7aa9a05 100644
--- a/src/btree/src/nodes/WeightedRandomNode.cpp
+++ b/src/btree/src/nodes/WeightedRandomNode.cpp
@@ -16,7 +16,7 @@ void WeightedRandomNode::halt() {
 
 NodeStatus WeightedRandomNode::tick() {
     if (select_next) {
-        const size_t children_count = children_nodes_.size();
+        size_t children_count = children_nodes_.size();
 
         std::string weightString;
 
@@ -53,14 +53,18 @@ NodeStatus WeightedRandomNode::tick() {
         }
 
         selected_child_index = i;
+        
+        std::cout<< "Selected child:" << selected_child_index <<std::endl;
+        
         select_next = false;
     }
 
     TreeNode *current_child_node = children_nodes_[selected_child_index];
-    const NodeStatus child_status = current_child_node->executeTick();
-
+    NodeStatus child_status = current_child_node->executeTick();
+    
     if (child_status != NodeStatus::RUNNING) {
         select_next = true;
+        resetChildren();
     }
 
     return child_status;
diff --git a/src/btree/trees/actorTreeCoex.xml b/src/btree/trees/actorTreeCoex.xml
index ad4cc9b..c386167 100644
--- a/src/btree/trees/actorTreeCoex.xml
+++ b/src/btree/trees/actorTreeCoex.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="actorTree">
     <BehaviorTree ID="actorTree">
-        <Control ID="WeightedRandom" weights="95,5">
+        <WeightedRandom weights="95,5">
             <Sequence>
                 <SubTree ID="WorkOnBench"/>
                 <SubTree ID="DepositToShelf"/>
@@ -10,7 +10,7 @@
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                 <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="{actorTarget}"/>
             </Sequence>
-        </Control>
+        </WeightedRandom>
     </BehaviorTree>
     <BehaviorTree ID="DepositToShelf">
         <Sequence>
diff --git a/src/btree/trees/robotTreeCoex.xml b/src/btree/trees/robotTreeCoex.xml
index 7c1319e..e3bb1f1 100644
--- a/src/btree/trees/robotTreeCoex.xml
+++ b/src/btree/trees/robotTreeCoex.xml
@@ -10,16 +10,41 @@
                 <Action ID="SetRobotVelocity" velocity="0.1"/>
                 <Action ID="SetRobotVelocity" velocity="1"/>
             </IfThenElse>
-            <Fallback>
-                <Control ID="InterruptableSequence">
+            <Control ID="InterruptableSequence">
+                <Fallback>
                     <Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
                     <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
                     <Action ID="RobotMove" target="{target}"/>
                     <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
                     <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
                     <Action ID="RobotMove" target="{target}"/>
-                </Control>
-            </Fallback>
+                </Fallback>
+            </Control>
         </ReactiveSequence>
     </BehaviorTree>
+    <BehaviorTree ID="Slowdown">
+        <ReactiveSequence>
+            <Inverter>
+                <Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
+            </Inverter>
+            <IfThenElse>
+                <Condition ID="InAreaTest" area="{warningArea}" pose="{actorPos}"/>
+                <Action ID="SetRobotVelocity" velocity="0.1"/>
+                <Action ID="SetRobotVelocity" velocity="1"/>
+            </IfThenElse>
+            <SubTree ID="SafeTree" _autoremap="1"/>
+        </ReactiveSequence>
+    </BehaviorTree>
+    <BehaviorTree ID="SafeTree">
+        <Fallback>
+            <Control ID="InterruptableSequence">
+                <Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
+                <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
+                <Action ID="RobotMove" target="{target}"/>
+                <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
+                <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
+                <Action ID="RobotMove" target="{target}"/>
+            </Control>
+        </Fallback>
+    </BehaviorTree>
 </root>
\ No newline at end of file
diff --git a/src/gz_ros2_control b/src/gz_ros2_control
index 55dd768..a295d33 160000
--- a/src/gz_ros2_control
+++ b/src/gz_ros2_control
@@ -1 +1 @@
-Subproject commit 55dd7680ff7234c825efa1dd0c104e5629448972
+Subproject commit a295d3319727b3e5ad1b0fa7dbfd34f3369655cf
diff --git a/src/ign_actor_plugin/src/ActorSystem.cpp b/src/ign_actor_plugin/src/ActorSystem.cpp
index f4f9195..a1a46e4 100644
--- a/src/ign_actor_plugin/src/ActorSystem.cpp
+++ b/src/ign_actor_plugin/src/ActorSystem.cpp
@@ -68,12 +68,8 @@ void ActorSystem::switchAnimation(EntityComponentManager &_ecm, char *animationN
 }
 
 double Angle(ignition::math::Quaterniond a,ignition::math::Quaterniond b){
-    auto dot = fmin(abs(a.Dot(b)),1.0);
-    if(dot > 0.999999){
-        return 0.0;
-    }else{
-        return acos(dot) * 2;
-    }
+    auto dot = fmin(abs(a.Normalized().Dot(b.Normalized())),1.0);
+    return acos(dot);
 }
 
 void ActorSystem::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) {
@@ -184,6 +180,8 @@ void ActorSystem::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ec
             }
 
             movementDetails.rotateToEndDuration = Angle(movementDetails.targetDiff.Rot(),movementDetails.target.Rot()) / turnSpeed;
+            
+            igndbg << movementDetails.rotateToTargetDuration << " " <<movementDetails.moveDuration << " " << movementDetails.rotateToEndDuration << std::endl;
         }
         
         movementDetails.time += deltaTimeSeconds;
diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py
index 8ca236e..d590a81 100644
--- a/src/ign_world/launch/gazebo_controller_launch.py
+++ b/src/ign_world/launch/gazebo_controller_launch.py
@@ -1,7 +1,7 @@
 import os
 from ament_index_python import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler, TimerAction
 from launch.event_handlers import OnProcessExit
 from launch_ros.actions import Node, SetParameter
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -128,8 +128,13 @@ def generate_launch_description():
             output='both',
             emulate_tty=True,
         ),
-
-        btree,
+        
+        TimerAction(
+            period=10.0,
+            actions=[
+                btree,
+            ]
+        ),
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
diff --git a/src/ign_world/world/world.sdf b/src/ign_world/world/world.sdf
index eaa9a8c..bc8854d 100644
--- a/src/ign_world/world/world.sdf
+++ b/src/ign_world/world/world.sdf
@@ -30,7 +30,7 @@
                 <rot>180</rot>
             </plugin>
             <skin>
-                <filename>$(find ign_actor_plugin)/animation/walk.dae</filename>
+                <filename>$(find ign_actor_plugin)/animation/standing_walk.dae</filename>
                 <scale>1.0</scale>
             </skin>
             
diff --git a/src/ros_actor_action_server/src/Server.cpp b/src/ros_actor_action_server/src/Server.cpp
index f59f54e..ac981f2 100644
--- a/src/ros_actor_action_server/src/Server.cpp
+++ b/src/ros_actor_action_server/src/Server.cpp
@@ -99,10 +99,12 @@ int main(int argc, char **argv) {
             }
             if (newFeedback.state==IDLE) {
                 if(currentFeedback.state==ANIMATION && currentAnimationGoalPtr!=nullptr){
+                    std::cout << "Finished Animation. " << std::endl;
                     currentAnimationGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Animation_Result>());
                     currentAnimationGoalPtr = nullptr;
                 }
                 if(currentFeedback.state==MOVEMENT && currentMovementGoalPtr!=nullptr){
+                    std::cout << "Finished Movement. " << std::endl;
                     currentMovementGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Movement_Result>());
                     currentMovementGoalPtr = nullptr;
                 }
@@ -120,14 +122,14 @@ int main(int argc, char **argv) {
             rosMutex.lock();
 
             if (currentFeedback.state == IDLE) {
-                std::cout << "Accepting..." << std::endl;
+                std::cout << "Accepting Animation..." << std::endl;
                 
                 currentAction.animationSpeed = animationGoal->animation_speed;
                 strcpy(currentAction.animationName, animationGoal->animation_name.data());
 
                 return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
             } else {
-                std::cout << "Rejecting..." << std::endl;
+                std::cout << "Rejecting Animation..." << std::endl;
                 rosMutex.unlock();
                 return rclcpp_action::GoalResponse::REJECT;
             }
@@ -137,9 +139,11 @@ int main(int argc, char **argv) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
                 rosMutex.lock();
+                std::cout << "Cancelling Animation..." << std::endl;
                 sendAction(actionQueue, &cancelAction);
                 
                 waitForState(&currentFeedback, IDLE);
+                std::cout << "Cancelled Animation..." << std::endl;
                 rosMutex.unlock();
 
                 return rclcpp_action::CancelResponse::ACCEPT;
@@ -161,7 +165,7 @@ int main(int argc, char **argv) {
         [&currentAction, &currentFeedback](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) {
             rosMutex.lock();
             if (currentFeedback.state == IDLE) {
-                std::cout << "Accepting..." << std::endl;
+                std::cout << "Accepting Movement..." << std::endl;
                 
                 currentAction.target = movementGoal->target;
                 currentAction.animationSpeed = movementGoal->animation_distance;
@@ -169,7 +173,7 @@ int main(int argc, char **argv) {
 
                 return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
             } else {
-                std::cout << "Rejecting..." << std::endl;
+                std::cout << "Rejecting Movement..." << std::endl;
                 rosMutex.unlock();
                 return rclcpp_action::GoalResponse::REJECT;
             }
@@ -179,9 +183,11 @@ int main(int argc, char **argv) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
                 rosMutex.lock();
+                std::cout << "Cancelling Movement..." << std::endl;
                 sendAction(actionQueue, &cancelAction);
                 
                 waitForState(&currentFeedback, IDLE);
+                std::cout << "Cancelled Movement..." << std::endl;
                 rosMutex.unlock();
                 
                 return rclcpp_action::CancelResponse::ACCEPT;
diff --git a/test.sh b/test.sh
index afbf897..cc3478e 100755
--- a/test.sh
+++ b/test.sh
@@ -1,2 +1,2 @@
-ros2 action send_goal /ActorPlugin/animation ign_actor_plugin_msgs/action/Animation "{animation_name: 'walk', animation_speed: 1.0}"
-ros2 action send_goal /ActorPlugin/movement ros_actor_action_server_msgs/action/Movement '{animation_name: "walk", animation_speed: 1.0, animation_distance: 1.5, target: {orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}, position: {x: 2.0, y: 0.0, z: 0.0}}}'
\ No newline at end of file
+ros2 action send_goal /ActorPlugin/animation ign_actor_plugin_msgs/action/Animation "{animation_name: 'standing_walk', animation_speed: 1.0}"
+ros2 action send_goal /ActorPlugin/movement ros_actor_action_server_msgs/action/Movement '{animation_name: "standing_walk", animation_speed: 1.0, animation_distance: 1.5, target: {orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}, position: {x: 2.0, y: 0.0, z: 0.0}}}'
\ No newline at end of file