diff --git a/launch/rosbuzzm100.launch b/launch/rosbuzzm100.launch
index c44b99e..0c0b0e7 100644
--- a/launch/rosbuzzm100.launch
+++ b/launch/rosbuzzm100.launch
@@ -2,15 +2,17 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
+		<rosparam file="$(find rosbuzz)/launch/launch_config/m100.yaml"/>
+		<param name="bzzfile_name" value="$(env ROS_WS)/src/testflockfev.bzz" />
                 <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="/buzzcmd" />
-		<param name="fcclient_name" value="/dji_mavcmd" />
+		<!--param name="fcclient_name" value="/dji_mavcmd" -->
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
 		<param name="xbee_status_srv" value="/xbee_status"/>
-		<param name="robot_id" value="3"/>
-		<param name="No_of_Robots" value="3"/>
+		<param name="xbee_plugged" value="true"/>
+		<!--param name="robot_id" value="3"-->
+		<!--param name="No_of_Robots" value="3"-->
 		<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
 		</node>
 		
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index c9cbd69..cf39566 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -450,8 +450,8 @@ buzzvm_dup(VM);
 	   buzzswarm_elem_t e = *(buzzswarm_elem_t*)data;
 	   int* status = (int*)params;
 	   if(*status == 3) return;
-	fprintf(stderr, "CHECKING SWARM MEMBERS:%i\n",buzzdarray_get(e->swarms, 0, uint16_t));
-	   if(buzzdarray_size(e->swarms) != 1) {
+	fprintf(stderr, "CHECKING SWARM :%i, memeber: %i, age: %i \n",buzzdarray_get(e->swarms, 0, 			uint16_t), *(uint16_t*)key, e->age);
+             if(buzzdarray_size(e->swarms) != 1) {
 	      fprintf(stderr, "Swarm list size is not 1\n");
 	      *status = 3;
 	   }
@@ -504,16 +504,18 @@ buzzvm_dup(VM);
 		      buzz_error_info());
 	      buzzvm_dump(VM);
 	   }
+	   /* Update swarm membership */
+           buzzswarm_members_update(VM->swarmmembers);
 	   //buzzvm_process_outmsgs(VM); //--> done in  out_msg_process() function called each step
 	   //usleep(10000);
 	   /*Print swarm*/
-	   //buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
+	   buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
 	   //int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
 	   //fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
 
 	   /* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
-//	   int status = 1;
-//	   buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
+	   int status = 1;
+	   buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
 	}
 
 	/****************************************/
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 26f5508..faf8c29 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -26,7 +26,7 @@ namespace rosbzz_node{
 		if(xbeeplugged)
 			GetRobotId();
 		else
-			robot_id=strtol(robot_name.c_str() + 5, NULL, 10);;
+			robot_id= strtol(robot_name.c_str() + 5, NULL, 10);;
 		setpoint_counter = 0;
 		fcu_timeout = TIMEOUT;
                 home[0]=0.0;home[1]=0.0;home[2]=0.0;
@@ -268,16 +268,16 @@ namespace rosbzz_node{
 		bzzfile_in_compile.str("");
 		std::string  name = bzzfile_name.substr(bzzfile_name.find_last_of("/\\") + 1);
  		name = name.substr(0,name.find_last_of("."));
-		bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" "<<path<< name<<".basm";
-   		system(bzzfile_in_compile.str().c_str());
-		bzzfile_in_compile.str("");
-           	bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
+		bzzfile_in_compile << "bzzc "<<bzzfile_name; //<<" "<<path<< name<<".basm";
    		system(bzzfile_in_compile.str().c_str());
+		//bzzfile_in_compile.str("");
+           	//bzzfile_in_compile <<"bzzasm "<<path<<name<<".basm "<<path<<name<<".bo "<<path<<name<<".bdbg";
+   		//system(bzzfile_in_compile.str().c_str());
 		bzzfile_in_compile.str("");
 		bzzfile_in_compile <<path<<name<<".bo";
 		bcfname = bzzfile_in_compile.str();
 		bzzfile_in_compile.str("");
-		bzzfile_in_compile <<path<<name<<".bdbg";
+		bzzfile_in_compile <<path<<name<<".bdb";
 		dbgfname = bzzfile_in_compile.str();
    		
 	}