diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index 1642421b2b3cfda154c6fcb873d4c18d12a65e5b..c9659440dfbc73361cd2c0a69f77b539ca00a191 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -23,12 +23,12 @@
 #include <signal.h>
 
 #include <behaviortree_cpp_v3/behavior_tree.h>
-#include "behaviortree_cpp_v3/blackboard.h"
+#include <behaviortree_cpp_v3/blackboard.h>
 
-#include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
-#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
-#include "behaviortree_cpp_v3/loggers/bt_minitrace_logger.h"
-#include "behaviortree_cpp_v3/loggers/bt_file_logger.h"
+#include <behaviortree_cpp_v3/loggers/bt_cout_logger.h>
+#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>
+#include <behaviortree_cpp_v3/loggers/bt_minitrace_logger.h>
+#include <behaviortree_cpp_v3/loggers/bt_file_logger.h>
 
 #include "iri_bt_factory.h"
 #include "iri_bt_basic_nodes.h"
@@ -103,12 +103,6 @@ class IriBaseBTClient
     */
     IriBehaviorTreeFactory factory;
 
-    /**
-    * \brief 
-    * 
-    */
-    IriBehaviorTreeBasicNodes core;
-
     /**
     * \brief 
     * 
@@ -126,6 +120,12 @@ class IriBaseBTClient
     ros::Rate loop_rate_;
 
   protected:
+    /**
+    * \brief 
+    * 
+    */
+    IriBTBasicNodes core;
+
    /**
     * \brief define config type
     *
@@ -479,8 +479,6 @@ void IriBaseBTClient<ConfigClass>::enable_cout_logger()
 {
   if(this->logger_cout==NULL)
     this->logger_cout=new BT::StdCoutLogger(this->tree);
-  else
-    ROS_WARN("IriBaseBTClient: StdCoutLogger already enabled!");
 }
 
 template <class ConfigClass>
@@ -512,8 +510,6 @@ void IriBaseBTClient<ConfigClass>::enable_minitrace_logger()
     else
       ROS_ERROR("IriBaseBTClient: MinitraceLogger couldn't be enabled");
   }
-  else
-    ROS_WARN("IriBaseBTClient: MinitraceLogger already enabled!");
 }
 
 template <class ConfigClass>
@@ -545,8 +541,6 @@ void IriBaseBTClient<ConfigClass>::enable_file_logger()
     else
       ROS_ERROR("IriBaseBTClient: Filelogger couldn't be enabled");
   }
-  else
-    ROS_WARN("IriBaseBTClient: FileLogger already enabled!");
 }
 
 template <class ConfigClass>
@@ -554,8 +548,6 @@ void IriBaseBTClient<ConfigClass>::enable_zmq_publisher()
 {
   if(this->publisher_zmq==NULL)
     this->publisher_zmq=new BT::PublisherZMQ(this->tree);
-  else
-    ROS_WARN("IriBaseBTClient: PublisherZMQ already enabled!");
 }
 
 template <class ConfigClass>
@@ -620,19 +612,37 @@ void IriBaseBTClient<ConfigClass>::reconfigureCallback(ConfigClass &config, uint
       if(new_rate!=this->getRate())
         this->setRate(new_rate);
     }
-    else if((*param)->name=="iri_bt_client_enable_cout_logger")
+    else if((*param)->name=="bt_client_enable_cout_logger")
     {
       new_enable=boost::any_cast<bool &>(value);
       if(new_enable)
-      {
-        if(this->logger_cout==NULL)
-          this->enable_cout_logger();
-      }
+        this->enable_cout_logger();
       else
-      {
-        if(this->logger_cout!=NULL)
-          this->disable_cout_logger();
-      }
+        this->disable_cout_logger();
+    }
+    else if((*param)->name=="bt_client_enable_minitrace_logger")
+    {
+      new_enable=boost::any_cast<bool &>(value);
+      if(new_enable)
+        this->enable_minitrace_logger();
+      else
+        this->disable_minitrace_logger();
+    }
+    else if((*param)->name=="bt_client_enable_file_logger")
+    {
+      new_enable=boost::any_cast<bool &>(value);
+      if(new_enable)
+        this->enable_file_logger();
+      else
+        this->disable_file_logger();
+    }
+    else if((*param)->name=="bt_client_enable_zmq_publisher")
+    {
+      new_enable=boost::any_cast<bool &>(value);
+      if(new_enable)
+        this->enable_zmq_publisher();
+      else
+        this->disable_zmq_publisher();
     }
   }
   this->unlock();