diff --git a/safety_user_plugin/scripts/ros_wrapper.py b/safety_user_plugin/scripts/ros_wrapper.py
index 642ec76..68f32ff 100644
--- a/safety_user_plugin/scripts/ros_wrapper.py
+++ b/safety_user_plugin/scripts/ros_wrapper.py
@@ -48,8 +48,16 @@ class ROSWrapper:
         self.user_stop_publisher = rospy.Publisher('/RosAria/{0}/user_stop'.format(robot_name),Bool,queue_size = 1)
         self.clutch_publisher = rospy.Publisher('/RosAria/{0}/clutch'.format(robot_name),Bool,queue_size = 1)
 
+        if self.periodic_timer != None:
+            self.shutdown_timer(self.periodic_timer)
         self.periodic_timer = rospy.Timer(rospy.Duration(0.2),self.publish_periodic_update)
+
+        if self.connection_timer != None:
+            self.shutdown_timer(self.connection_timer)        
         self.connection_timer = rospy.Timer(rospy.Duration(1.5),self.handle_robot_connection_lost)
+
+        if self.master_connection_timer != None:
+            self.shutdown_timer(self.master_connection_timer)       
         self.master_connection_timer = rospy.Timer(rospy.Duration(1.5),self.handle_master_connection_lost)
 
     def unsubscribe(self,subscriber):
@@ -160,6 +168,7 @@ class ROSWrapper:
         self.unsubscribe(self.robot_info_subscriber)
         self.shutdown_timer(self.periodic_timer)
         self.shutdown_timer(self.connection_timer)
+        self.shutdown_timer(self.master_connection_timer)
 
     def handle_selected_robot_info_update(self,msg):
         # Restarting connection timer to avoid raising robot_connection_lost_callback
diff --git a/safety_user_plugin/scripts/user_plugin.py b/safety_user_plugin/scripts/user_plugin.py
index cea9176..c982be3 100755
--- a/safety_user_plugin/scripts/user_plugin.py
+++ b/safety_user_plugin/scripts/user_plugin.py
@@ -28,7 +28,6 @@ class CallbackHandler(QObject):
     def list_connect(self,slot):
         self.signal_with_list_argument.connect(slot)
 
-    # def handle
 
 class UserPlugin(Plugin):
 
@@ -162,15 +161,19 @@ class UserPlugin(Plugin):
 
     # Operations
     def master_stopped(self):
-        self.user_stopped()
-        self.call_qt_wrapper_method('master_stopped')
-        # self._qt_wrapper.master_stopped()
         self._user_info.master_stop_state = SS.STOPPED
+        
+        if self._user_info.selected_robot != None:
+            self.user_stopped()
+            self.call_qt_wrapper_method('master_stopped')
+            # self._qt_wrapper.master_stopped()
 
     def master_started(self):
-        # self._qt_wrapper.master_started()
-        self.call_qt_wrapper_method('master_started')
         self._user_info.master_stop_state = SS.RUNNING
+        
+        if self._user_info.selected_robot != None:
+            self.call_qt_wrapper_method('master_started')
+            # self._qt_wrapper.master_started()
 
     def user_stopped(self):
         self._user_info.user_stop_state = SS.STOPPED
@@ -220,8 +223,9 @@ class UserPlugin(Plugin):
         # self._qt_wrapper.connection_to_robot_lost(lost_robot_id)
 
     def connection_to_master_lost(self):
-        self.master_stopped()
-        self.call_qt_wrapper_method('connection_to_master_lost')
+        if self._user_info.selected_robot != None:
+            self.master_stopped()
+            self.call_qt_wrapper_method('connection_to_master_lost')
 
     def update_selected_robot_info(self,robot_info):
         self._user_info.update_selected_robot_info(robot_info)