diff --git a/safety_user_plugin/ros_wrapper.py b/safety_user_plugin/ros_wrapper.py
index 33ef8d7..3880ff5 100644
--- a/safety_user_plugin/ros_wrapper.py
+++ b/safety_user_plugin/ros_wrapper.py
@@ -40,13 +40,15 @@ class ROSWrapper(Node):
         self.restrictions_subscriber = None
 
         self.user_stop_publisher = None
+        self.user_stop_state_to_publish = True
         self.clutch_publisher = None
 
-        self.periodic_timer = None
+        # self.periodic_timer = None
         self.robots_list_timer = None
         self.connection_timer = None
         self.master_connection_timer = None
-        self.hz_update_timer = self.create_timer(0.2, self.update_hz_values)
+        self.robot_stop_timer = None
+        # self.hz_update_timer = self.create_timer(0.2, self.publish_user_stop_and_update_hz_values)
 
         self.robots_hz_subscribers_dict = {}
         self.rostopics_hz_dict = {}
@@ -88,6 +90,7 @@ class ROSWrapper(Node):
             Bool, f"/pioneer{robot_id}/clutch", 10
         )
 
+
         # if self.periodic_timer != None:
         #     self.shutdown_timer(self.periodic_timer)
         # self.periodic_timer = rospy.Timer(
@@ -99,12 +102,16 @@ class ROSWrapper(Node):
             5.0, 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
-        # )
+        if self.master_connection_timer != None:
+            self.shutdown_timer(self.master_connection_timer)
+        self.master_connection_timer = self.create_timer(
+            1.5, self.handle_master_connection_lost()
+        )
 
+        self.shutdown_timer(self.robot_stop_timer)
+        self.robot_stop_timer = self.create_timer(
+            0.1, self.publish_robot_stop
+        )
         # if self.hz_update_timer != None:
         #     self.shutdown_timer(self.hz_update_timer)
         # self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
@@ -146,8 +153,17 @@ class ROSWrapper(Node):
                 "clutch_state UNKNOWN when attempting to publish periodic update"
             )
 
-    def update_hz_values(self):
+    def publish_robot_stop(self):
+        if self.user_stop_publisher is not None:
+            msg = Bool()
+            msg.data = self.user_stop_state_to_publish
+            self.user_stop_publisher.publish(msg)
+    
+    def publish_user_stop_and_update_hz_values(self):
         print("update_hz_values")
+
+
+
         # for key in self.rostopics_hz_dict:
         #     self.robots_hz_value[key] = self.rostopics_hz_dict[key].get_hz(
         #         "/PIONEER{0}/RosAria/user_stop".format(key)
@@ -161,14 +177,6 @@ class ROSWrapper(Node):
         self.shutdown_timer(self.master_connection_timer)
         self.master_connection_lost_callback()
 
-    def cancel_subscribers_and_publishers(self):
-        self.shutdown_timer(self.periodic_timer)
-        self.unsubscribe(self.robot_info_subscriber)
-        self.unsubscribe(self.master_stop_subscriber)
-        self.unsubscribe(self.restrictions_subscriber)
-        self.unregister_publisher(self.user_stop_publisher)
-        self.unregister_publisher(self.clutch_publisher)
-
     def restart_connection_timer(self):
         self.shutdown_timer(self.connection_timer)
         self.connection_timer = self.create_timer(
@@ -181,7 +189,16 @@ class ROSWrapper(Node):
             1.5, self.handle_master_connection_lost
         )
 
+    def cancel_subscribers_and_publishers(self):
+        # self.shutdown_timer(self.periodic_timer)
+        self.unsubscribe(self.robot_info_subscriber)
+        self.unsubscribe(self.master_stop_subscriber)
+        self.unsubscribe(self.restrictions_subscriber)
+        self.unregister_publisher(self.user_stop_publisher)
+        self.unregister_publisher(self.clutch_publisher)
+
     def unregister_node(self):
+        self.release_robot()
         self.cancel_subscribers_and_publishers()
         print("Unregister node.")
         # rospy.signal_shutdown("Closing safety user plugin")
@@ -217,15 +234,20 @@ class ROSWrapper(Node):
         return robots_id_list
 
     def release_robot(self):
+        # self.shutdown_timer(self.periodic_timer)
+        self.shutdown_timer(self.robot_stop_timer)
+        self.shutdown_timer(self.connection_timer)
+        self.shutdown_timer(self.master_connection_timer)
+
         self.disengage_clutch()
         self.user_robot_disabled()
         self.unsubscribe(self.robot_info_subscriber)
         self.unsubscribe(self.restrictions_subscriber)
         self.unsubscribe(self.master_stop_subscriber)
 
-        self.shutdown_timer(self.periodic_timer)
-        self.shutdown_timer(self.connection_timer)
-        self.shutdown_timer(self.master_connection_timer)
+        self.unregister_publisher(self.user_stop_publisher)
+        self.unregister_publisher(self.clutch_publisher)
+
 
     def handle_selected_robot_info_update(self, msg):
         # Restarting connection timer to avoid raising robot_connection_lost_callback
@@ -274,24 +296,31 @@ class ROSWrapper(Node):
         self.master_connection_lost_callback = callback_function
 
     def engage_clutch(self):
-        msg = Bool()
-        msg.data = True
-        self.clutch_publisher.publish(msg)
+        if self.clutch_publisher is not None:
+            msg = Bool()
+            msg.data = True
+            self.clutch_publisher.publish(msg)
 
     def disengage_clutch(self):
-        msg = Bool()
-        msg.data = False
-        self.clutch_publisher.publish(msg)
+        if self.clutch_publisher is not None:
+            msg = Bool()
+            msg.data = False
+            self.clutch_publisher.publish(msg)
 
     def user_robot_enabled(self):
-        msg = Bool()
-        msg.data = False
-        self.user_stop_publisher.publish(msg)
+        if self.user_stop_publisher.publish is not None:
+            self.user_stop_state_to_publish = False
+            msg = Bool()
+            msg.data = self.user_stop_state_to_publish
+            self.user_stop_publisher.publish(msg)
+
 
     def user_robot_disabled(self):
-        msg = Bool()
-        msg.data = True
-        self.user_stop_publisher.publish(msg)
+        if self.user_stop_publisher.publish is not None:
+            self.user_stop_state_to_publish = True
+            msg = Bool()
+            msg.data = self.user_stop_state_to_publish
+            self.user_stop_publisher.publish(msg)
 
     def qt_timer_callback(self):
         rclpy.spin_once(self, timeout_sec=0.001)