diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
index 57faad7547c2a96a3dbb27582eacd61dc184f032..6853169f3fcd28bfa679e847cca07302e78144f5 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
@@ -49,7 +49,7 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
+#include "d_fall_pps/IntWithHeader.h"
 #include "d_fall_pps/AreaBounds.h"
 #include "d_fall_pps/CrazyflieContext.h"
 #include "d_fall_pps/CMQuery.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 5928885b819e8982c780df9561ac7d84638c32f4..3b5cc3daafb5f947cb4c65892cf4840c11a30ccb 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -219,10 +219,10 @@ void TopBanner::loadCrazyflieContext()
 void TopBanner::on_emergency_stop_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
-    fillIntMessageHeader(msg);
-    msg.data = CMD_RECONNECT;
-    this->crazyRadioCommandPublisher.publish(msg);
+    // d_fall_pps::IntWithHeader msg;
+    // fillIntMessageHeader(msg);
+    // msg.data = CMD_RECONNECT;
+    // this->crazyRadioCommandPublisher.publish(msg);
     ROS_INFO("[TOP BANNER GUI] EMERGENCY STOP button clicked");
 #endif
 }
diff --git a/pps_ws/src/d_fall_pps/launch/Config.sh b/pps_ws/src/d_fall_pps/launch/Config.sh
index 26f36eae875096698b77ba69c1c1a589487b6740..3a8fb3872789b05cf070f8c169a3483a6b52e58c 100755
--- a/pps_ws/src/d_fall_pps/launch/Config.sh
+++ b/pps_ws/src/d_fall_pps/launch/Config.sh
@@ -1,7 +1,7 @@
 # TO RUN THE SYSTEM FULLY ON THE LOCAL COMPUTER:
-export ROS_MASTER_URI=http://localhost:11311
+# export ROS_MASTER_URI=http://localhost:11311
 # TO RUN THE SYSTEM ON A DEFAULT CONFIGURATION OF THE NETWROK:
-# export ROS_MASTER_URI=http://teacher:11311
+export ROS_MASTER_URI=http://teacher:11311
 # OTHER NECESSARY ENVIRONMENT VARIABLES:
 export ROS_IP=$(hostname -I | awk '{print $1;}')
 export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id)
diff --git a/pps_ws/src/d_fall_pps/launch/Teacher.launch b/pps_ws/src/d_fall_pps/launch/Teacher.launch
index 21028d0c5d9ef72ccb006007c0dfc2609d9f54c5..609043d19fdceec8f2e86fd6d459e7b26f536de9 100755
--- a/pps_ws/src/d_fall_pps/launch/Teacher.launch
+++ b/pps_ws/src/d_fall_pps/launch/Teacher.launch
@@ -1,13 +1,31 @@
 <launch>
-	<node pkg="d_fall_pps" name="CentralManagerService" output="screen" type="CentralManagerService">
+
+	<!-- CENTRAL MANAGER -->
+	<node
+		pkg="d_fall_pps"
+		name="CentralManagerService"
+		output="screen"
+		type="CentralManagerService"
+		>
 	</node>
 
-	<node pkg="d_fall_pps" name="ViconDataPublisher" output="screen" type="ViconDataPublisher">
+	<!-- VICON DATA PUBLISHER -->
+	<node
+		pkg="d_fall_pps"
+		name="ViconDataPublisher"
+		output="screen"
+		type="ViconDataPublisher"
+		>
 		<rosparam command="load" file="$(find d_fall_pps)/param/ViconConfig.yaml" />
 	</node>
 
-	<!-- When we have a GUI, this has to be adapted and included -->
-	<node pkg="d_fall_pps" name="my_GUI" output="screen" type="my_GUI">
+	<!-- TEACHER GUI -->
+	<node
+		pkg="d_fall_pps"
+		name="my_GUI"
+		output="screen"
+		type="my_GUI"
+		>
 	</node>
 
 </launch>