diff --git a/buzz_scripts/include/taskallocate/graphformGPS.bzz b/buzz_scripts/include/taskallocate/graphformGPS.bzz
index c2de02c..dc6527e 100644
--- a/buzz_scripts/include/taskallocate/graphformGPS.bzz
+++ b/buzz_scripts/include/taskallocate/graphformGPS.bzz
@@ -10,7 +10,7 @@ include "taskallocate/graphs/shapes_Y.bzz"
 ROBOT_RADIUS = 50
 ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
 ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
-ROOT_ID = 5
+ROOT_ID = 2
 
 #
 # Global variables
diff --git a/buzz_scripts/main.bzz b/buzz_scripts/main.bzz
index d963fe4..2510779 100644
--- a/buzz_scripts/main.bzz
+++ b/buzz_scripts/main.bzz
@@ -11,7 +11,7 @@ include "timesync.bzz"
 AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
 #AUTO_LAUNCH_STATE = "CUSFUN"
 #Lowest robot id in the network
-LOWEST_ROBOT_ID = 1
+LOWEST_ROBOT_ID = 0
 TARGET     = 9.0
 EPSILON    = 30.0
 
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 7f3c63b..63c7906 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -7,11 +7,13 @@
   <arg name="xbee_plugged" default="true"/>
   <arg name="script" default="testalone"/>
   <arg name="launch_config" default="topics"/>
+  <arg name="debug" default="false" />
 
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
     <param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
     <param name="rcclient" value="true" />
+    <param name="debug" value="$(arg debug)" />
     <param name="rcservice_name" value="buzzcmd" />
     <param name="in_payload" value="inMavlink"/>
     <param name="out_payload" value="outMavlink"/>
diff --git a/launch/rosbuzzd.launch b/launch/rosbuzzd.launch
index a89b1af..36fa979 100644
--- a/launch/rosbuzzd.launch
+++ b/launch/rosbuzzd.launch
@@ -7,11 +7,13 @@
   <arg name="xbee_plugged" default="true"/>
   <arg name="script" default="testalone"/>
   <arg name="launch_config" default="topics"/>
+  <arg name="debug" default="true" />
 
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
     <param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
     <param name="rcclient" value="true" />
+    <param name="debug" value="$(arg debug)" />
     <param name="rcservice_name" value="buzzcmd" />
     <param name="in_payload" value="inMavlink"/>
     <param name="out_payload" value="outMavlink"/>