diff --git a/safety_master_plugin/scripts/master_plugin.py b/safety_master_plugin/scripts/master_plugin.py
index 3a0f01a..44f0ca5 100755
--- a/safety_master_plugin/scripts/master_plugin.py
+++ b/safety_master_plugin/scripts/master_plugin.py
@@ -16,15 +16,15 @@ class MasterPlugin(Plugin):
         self.setObjectName('Master Plugin - L1.5 safety system')
 
         self._widget = MasterWidget(context)
+        self._ros_wrapper = ROSWrapper()
         self._qt_wrapper = QtWrapper(self._widget)
-        
         self._master_info = MasterInfo()
 
         
         # self._qt_wrapper.connect_signals()
         # self._qt_wrapper.set_sliders_to_initial_values()
 
-        self._ros_wrapper = ROSWrapper()
+        
         # Setup functions to get _master_info states from _ros_wrapper
         self._ros_wrapper.setup_get_master_stop_state_function(self._master_info.get_master_stop_state)
         self._ros_wrapper.setup_get_restrictions_function(self._master_info.get_restrictions)
diff --git a/safety_master_plugin/scripts/master_restrictions.py b/safety_master_plugin/scripts/master_restrictions.py
new file mode 100644
index 0000000..5df47c8
--- /dev/null
+++ b/safety_master_plugin/scripts/master_restrictions.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+class Restrictions:
+
+	def __init__(self,distance,linear_velocity,angular_velocity):
+		self.distance = distance
+		self.linear_velocity = linear_velocity
+		self.angular_velocity = angular_velocity
+
+
+	def update_restrictions(self,restrictions_msg):
+		self.distance = restrictions_msg.distance.data
+		self.linear_velocity = restrictions_msg.linear_velocity.data
+		self.angular_velocity = restrictions_msg.angular_velocity.data
\ No newline at end of file
diff --git a/safety_master_plugin/scripts/qt_master_wrapper.py b/safety_master_plugin/scripts/qt_master_wrapper.py
index 118bcc0..26b7173 100644
--- a/safety_master_plugin/scripts/qt_master_wrapper.py
+++ b/safety_master_plugin/scripts/qt_master_wrapper.py
@@ -9,6 +9,8 @@ import datetime
 from enums.clutch_state import ClutchState as CS
 from enums.stop_state import StopState as SS
 
+from master_restrictions import Restrictions
+
 from python_qt_binding.QtGui import QPixmap
 from python_qt_binding.QtGui import QTextCursor
 from python_qt_binding.QtWidgets import QMessageBox
@@ -20,15 +22,22 @@ class QtWrapper:
         self.widget = widget
         self.displayed_robots_id_list = []
 
-        self.disable_sliders_tracking()
-        # self.set_sliders_to_initial_values()
-
         self.master_stop_state = None
+
+        # self.disable_sliders_tracking()
+
         # self.ok_pixmap = QPixmap('/home/olek/safetysystemL1.5/src/SafetySystem/safety_user_plugin/ui/Ok.jpg')
         # self.cancel_pixmap = QPixmap('/home/olek/safetysystemL1.5/src/SafetySystem/safety_user_plugin/ui/Cancel.jpg')
 
     def set_sliders_to_initial_values(self):
-        raise NotImplementedError
+        self.widget.distanceSlider.setMaximum(200)
+        self.widget.angularSlider.setMaximum(200)
+        self.widget.linearSlider.setMaximum(200)
+
+        self.widget.distanceSlider.setValue(50)
+        self.widget.angularSlider.setValue(100)
+        self.widget.linearSlider.setValue(100)
+
 
     def disable_sliders_tracking(self):
         self.widget.distanceSlider.setTracking(False)
@@ -43,18 +52,27 @@ class QtWrapper:
         self.restrictions_updated_callback = callback_function
 
     def handle_restrictions_update(self):
-        raise NotImplementedError
-        # restrictions = Restrictions()
-        # Do something
-        # self.restrictions_updated_callback(restrictions)
+        distance = (float(self.widget.distanceSlider.value())/100)
+        angular_velocity = (float(self.widget.angularSlider.value())/100)
+        linear_velocity = (float(self.widget.linearSlider.value())/100)
+
+        self.widget.distanceLabel.setText("{:.2f}".format(distance))
+        self.widget.angularLabel.setText("{:.2f}".format(angular_velocity))
+        self.widget.linearLabel.setText("{:.2f}".format(linear_velocity))
+
+        restrictions = Restrictions(distance,angular_velocity,linear_velocity)
+
+        self.restrictions_updated_callback(restrictions)
 
 
     def connect_signals(self):
-        # self.widget.distanceSlider.valueChanged.connect(self.handle_restrictions_update)
-        # self.widget.angularSlider.valueChanged.connect(self.handle_restrictions_update)
-        # self.widget.linearSlider.valueChanged.connect(self.handle_restrictions_update)
+        self.widget.distanceSlider.valueChanged.connect(self.handle_restrictions_update)
+        self.widget.angularSlider.valueChanged.connect(self.handle_restrictions_update)
+        self.widget.linearSlider.valueChanged.connect(self.handle_restrictions_update)
         self.widget.masterstopButton.clicked.connect(self.handle_masterstopButton_clicked)
 
+        self.set_sliders_to_initial_values()
+
     # def handle_emitted_signal(self,method_name):
     #     exec('self.{0}()'.format(method_name))
 
diff --git a/safety_master_plugin/scripts/restrictions.py b/safety_master_plugin/scripts/restrictions.py
deleted file mode 100644
index bea4082..0000000
--- a/safety_master_plugin/scripts/restrictions.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python
-
-class Restrictions:
-
-	def __init__(self,restrictions_msg):
-		self.distance = restrictions_msg.distance.data
-		self.linear_velocity = restrictions_msg.linear_velocity.data
-		self.angular_velocity = restrictions_msg.angular_velocity.data
\ No newline at end of file
diff --git a/safety_master_plugin/scripts/ros_master_wrapper.py b/safety_master_plugin/scripts/ros_master_wrapper.py
index 77625ad..0e4343a 100644
--- a/safety_master_plugin/scripts/ros_master_wrapper.py
+++ b/safety_master_plugin/scripts/ros_master_wrapper.py
@@ -32,7 +32,7 @@ class ROSWrapper:
         self.master_stop_publisher = rospy.Publisher('/RosAria/master_stop',Bool,queue_size = 1)
         self.restrictions_publisher = rospy.Publisher('/RosAria/restrictions',RestrictionsMsg,queue_size = 1)
 
-        # self.periodic_timer = rospy.Timer(rospy.Duration(0.5),self.publish_periodic_update)
+        self.periodic_timer = rospy.Timer(rospy.Duration(0.5),self.publish_periodic_update)
 
     def add_robot_subscriber(self,robot_id):
         if robot_id not in self.robot_info_subscribers: