diff --git a/src/ar3_config/launch/dev.launch.py b/src/ar3_config/launch/dev.launch.py
index 2007552..114eeff 100644
--- a/src/ar3_config/launch/dev.launch.py
+++ b/src/ar3_config/launch/dev.launch.py
@@ -46,6 +46,11 @@ def generate_launch_description():
             package='move_group_interface',
             executable='move_group_interface_node',
             output='screen',
+            parameters=[robot_description, robot_description_semantic, robot_description_kinematics,
+                get_yaml(join(config_root, 'ompl_planning.yaml')),
+                get_yaml(join(config_root, 'trajectory.yaml')),
+                get_yaml(join(config_root, 'planning_scene.yaml')),
+                get_yaml(join(config_root, "ar3_controllers.yaml"))],
         ),
 
         Node(
diff --git a/src/move_group_interface/src/move_group_interface_node.cpp b/src/move_group_interface/src/move_group_interface_node.cpp
index 7257f0c..b0179fc 100644
--- a/src/move_group_interface/src/move_group_interface_node.cpp
+++ b/src/move_group_interface/src/move_group_interface_node.cpp
@@ -16,34 +16,26 @@ class ScanNPlan : public rclcpp::Node {
 public:
     ScanNPlan() : Node("scan_n_plan") {
         // create the node and start it
-        nh_ = std::make_shared<rclcpp::Node>("scan_n_plan");
+        // nh_ = std::make_shared<Node>(reinterpret_cast<Node *>(this));
+	//nh_ = shared_from_this();
 
-        // spin the node
-        executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-        executor_->add_node(nh_);
-
-        /*
-        RCLCPP_INFO(nh_->get_logger(), "scan and plan in constructor");
-        auto spin = [this]() {
-          while(rclcpp::ok()) {
-            executor_->spin_once();
-            RCLCPP_INFO(nh_->get_logger(), "scan and plan still running");
-          }
-        };
-        thread_executor_spin_ = std::thread(spin);
-        */
+        RCLCPP_INFO(this->get_logger(), "SNP START");
 
         // create subscriber
-        pose_sub_ = nh_->create_subscription<geometry_msgs::msg::PoseStamped>(
+        pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
             "move_pose",
             rclcpp::QoS(1),
             std::bind(&ScanNPlan::moveCallback, this, std::placeholders::_1)
         );
+        RCLCPP_INFO(this->get_logger(), "SUB EXIST");
     }
 
 private:
     void moveCallback(geometry_msgs::msg::PoseStamped::SharedPtr p) {
-        auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(nh_);
+	    (void) p;
+    	RCLCPP_INFO(this->get_logger(), "GOT MSG");
+        auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(shared_from_this());
+    	RCLCPP_INFO(this->get_logger(), "GOT MOVEIT");
 
         //auto psm = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description");
         //psm->startSceneMonitor();
@@ -51,17 +43,23 @@ private:
 
 
         // planning_scene_monitor::LockedPlanningSceneRW scene{moveit_cpp_ptr->getPlanningSceneMonitor()};
+    	RCLCPP_INFO(this->get_logger(), "NEW PLANNING");
 
         auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
+    	RCLCPP_INFO(this->get_logger(), "GET MODEL");
         auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
+    	RCLCPP_INFO(this->get_logger(), "GET START STATE");
         auto robot_start_state = planning_components->getStartState();
 
+    	RCLCPP_INFO(this->get_logger(), "SETSTART TO CUR");
         planning_components->setStartStateToCurrentState();
 
         // set the goal to the request pose
+    	RCLCPP_INFO(this->get_logger(), "SET GOAL");
         planning_components->setGoal(*p, "base_link");
 
         // actually plan
+    	RCLCPP_INFO(this->get_logger(), "DO PLAN");
         auto plan_solution = planning_components->plan();
 
         // plan is valid
@@ -73,9 +71,10 @@ private:
     rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_sub_;
 
     //please
-    rclcpp::Node::SharedPtr nh_;
-    rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
-    std::thread thread_executor_spin_;
+    //rclcpp::Node::SharedPtr nh_;
+    // moveit_cpp::MoveItCpp::SharedPtr moveit_cpp_ptr_;
+    // rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
+    // std::thread thread_executor_spin_;
 };
 
 int main(int argc, char* argv[]) {
@@ -86,6 +85,10 @@ int main(int argc, char* argv[]) {
 
     rclcpp::spin(node);
 
+    // spin the node
+    // executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+    // executor_->add_node(nh_);
+
     RCLCPP_INFO(node->get_logger(), "Terminating MoveGroup");
     rclcpp::shutdown();
     return 0;