diff --git a/safety_master_plugin/CMakeLists.txt b/safety_master_plugin/CMakeLists.txt
index 5105c64..7108bca 100644
--- a/safety_master_plugin/CMakeLists.txt
+++ b/safety_master_plugin/CMakeLists.txt
@@ -145,6 +145,7 @@ include_directories(
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(safety_user_plugin ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 # target_link_libraries(${PROJECT_NAME}_node
diff --git a/safety_master_plugin/launch/master_plugin.launch b/safety_master_plugin/launch/master_plugin.launch
new file mode 100644
index 0000000..02a7b0c
--- /dev/null
+++ b/safety_master_plugin/launch/master_plugin.launch
@@ -0,0 +1,7 @@
+<launch>
+  <node pkg="rqt_gui"
+        type="rqt_gui"
+        name="rqt_gui"
+        args="--standalone safety_master_plugin"
+  />
+</launch>
\ No newline at end of file
diff --git a/safety_master_plugin/package.xml b/safety_master_plugin/package.xml
index 2df1841..64b732e 100644
--- a/safety_master_plugin/package.xml
+++ b/safety_master_plugin/package.xml
@@ -14,16 +14,20 @@
   <build_depend>rqt_gui</build_depend>
   <build_depend>rqt_gui_py</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>safety_user_plugin</build_depend>
 
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>rqt_gui</build_export_depend>
   <build_export_depend>rqt_gui_py</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>safety_user_plugin</build_export_depend>
 
   <exec_depend>rospy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>safety_user_plugin</exec_depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>
diff --git a/safety_master_plugin/ui/master_view.ui b/safety_master_plugin/ui/master_view.ui
new file mode 100644
index 0000000..85bbe95
--- /dev/null
+++ b/safety_master_plugin/ui/master_view.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>715</width>
+    <height>569</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QListView" name="listView">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>30</y>
+     <width>601</width>
+     <height>201</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QTextBrowser" name="textBrowser">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>451</y>
+     <width>621</width>
+     <height>91</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton">
+   <property name="geometry">
+    <rect>
+     <x>510</x>
+     <y>270</y>
+     <width>141</width>
+     <height>141</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>STOP</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/safety_user_plugin/CMakeLists.txt b/safety_user_plugin/CMakeLists.txt
index 1822dc4..52c3c0b 100644
--- a/safety_user_plugin/CMakeLists.txt
+++ b/safety_user_plugin/CMakeLists.txt
@@ -135,6 +135,7 @@ include_directories(
 ## either from message generation or dynamic reconfigure
 # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide