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diff --git a/node_info_ros1.txt b/node_info_ros1.txt
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+--------------------------------------------------------------------------------
+Node [/PIONIER6/RosAria]
+Publications: 
+ * /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8]
+ * /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32]
+ * /PIONIER6/RosAria/bumper_state [rosaria/BumperState]
+ * /PIONIER6/RosAria/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
+ * /PIONIER6/RosAria/parameter_updates [dynamic_reconfigure/Config]
+ * /PIONIER6/RosAria/pose [nav_msgs/Odometry]
+ * /PIONIER6/RosAria/robot_info [rosaria_msgs/RobotInfoMsg]
+ * /PIONIER6/RosAria/sonar [sensor_msgs/PointCloud]
+ * /PIONIER6/RosAria/sonar_pointcloud2 [sensor_msgs/PointCloud2]
+ * /PIONIER6/RosAria/wheels [sensor_msgs/JointState]
+ * /rosout [rosgraph_msgs/Log]
+ * /tf [tf2_msgs/TFMessage]
+
+Subscriptions: 
+ * /PIONIER/master_stop [std_msgs/Bool]
+ * /PIONIER/restrictions [rosaria_msgs/RestrictionsMsg]
+ * /PIONIER6/RosAria/clutch [std_msgs/Bool]
+ * /PIONIER6/RosAria/cmd_vel [unknown type]
+ * /PIONIER6/RosAria/user_stop [std_msgs/Bool]
+
+Services: 
+ * /PIONIER6/RosAria/get_loggers
+ * /PIONIER6/RosAria/gripper_close
+ * /PIONIER6/RosAria/gripper_down
+ * /PIONIER6/RosAria/gripper_open
+ * /PIONIER6/RosAria/gripper_up
+ * /PIONIER6/RosAria/set_logger_level
+ * /PIONIER6/RosAria/set_parameters
+
+
+contacting node http://10.104.16.45:35307/ ...
+Pid: 52
+Connections:
+ * topic: /rosout
+    * to: /rosout
+    * direction: outbound
+    * transport: TCPROS
+ * topic: /PIONIER6/RosAria/robot_info
+    * to: /master_plugin_lab15_19_12824_1114070233125035517
+    * direction: outbound
+    * transport: TCPROS
+ * topic: /PIONIER/restrictions
+    * to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
+    * direction: inbound
+    * transport: TCPROS
+ * topic: /PIONIER6/RosAria/user_stop
+    * to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
+    * direction: inbound
+    * transport: TCPROS
+ * topic: /PIONIER/master_stop
+    * to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
+    * direction: inbound
+    * transport: TCPROS
+ * topic: /PIONIER6/RosAria/clutch
+    * to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
+    * direction: inbound
+    * transport: TCPROS
+