diff --git a/cfg/IriStateMachineCompanion.cfg b/cfg/IriStateMachineCompanion.cfg
index 690959b0f4918fff361578150820bf810cf472b0..07e40d3752d72edb8d9dd4460e2a146d4d8d0f55 100755
--- a/cfg/IriStateMachineCompanion.cfg
+++ b/cfg/IriStateMachineCompanion.cfg
@@ -40,6 +40,7 @@ gen = ParameterGenerator()
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 #gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
 # threshold_max_dist_between_robot_and_person_
+gen.add("out_std_mesages_conf"       ,   bool_t,  0, "if true we se the internal std_out mesages.", False)
 gen.add("threshold_max_dist_between_robot_and_person_conf",  double_t,  0,    "Maximum distance between robot and person to talk (meters)",  4.5,      0.0,  30.0)
 gen.add("threshold_less_max_vel_robot_conf",  double_t,  0,    "less max vel of person because robot needs 0.2m/s more to react",  0.2,      0.0,  3.0)
 gen.add("threshold_minimun_distance_not_collide_conf",  double_t,  0,    "collision distance of the save_cmd_vel== 0.3",  0.8,      0.0,  3.0)
diff --git a/src/iri_state_machine_companion_alg_node.cpp b/src/iri_state_machine_companion_alg_node.cpp
index 57909853cea7bb69ae6f600f4dc785c63b7844db..0e0fd4a38e1fca71badcc893d8bf19fd5458212f 100644
--- a/src/iri_state_machine_companion_alg_node.cpp
+++ b/src/iri_state_machine_companion_alg_node.cpp
@@ -91,7 +91,8 @@ void IriStateMachineCompanionAlgNode::mainNodeThread(void)
 	
 	this->tibi_akp_status_UInt64_msg_.data =0; // case no status.
 
-	
+	out_std_mesages_=config_.out_std_mesages_conf;
+
 	unsigned int actual_numCompanionPeople=save_companionStatus_mesage_global_.numCompanionPeople;
 	//ROS_INFO("save_companionStatus_mesage_global_.numCompanionPeople=%d",save_companionStatus_mesage_global_.numCompanionPeople);
 	if(actual_numCompanionPeople==0){