diff --git a/libraries/create_action_client.sh b/libraries/create_action_client.sh
index df3cf2f2298af09e6aedecb9428bc491613a017e..347a22d19926ce75e8412f7890b8ac2f1b5c5e21 100644
--- a/libraries/create_action_client.sh
+++ b/libraries/create_action_client.sh
@@ -290,25 +290,27 @@ function create_action_client
     add_line_to_file "${line}" "${comment}" "${node_c}"
   fi
 
-  aux_line="\ \ // variable to hold the state of the current goal on the server"
+  aux_line="\ \ //// variable to hold the state of the current goal on the server"
   line="${aux_line}\n"
   aux_line="\ \ //actionlib::SimpleClientGoalState ${topic_name}_state(actionlib::SimpleClientGoalState::PENDING);"
   line="${line}${aux_line}\n"
-  aux_line="\ \ // to get the state of the current goal"
+  aux_line="\ \ //// to get the state of the current goal"
   line="${line}${aux_line}\n"
-  aux_line="\ \ //${driver_alg}_.unlock();" 
+  aux_line="\ \ ////this->${driver_alg}_.unlock();" 
   line="${line}${aux_line}\n"
   aux_line="\ \ //${topic_name}_state=${topic_name}_client_.getState();"
   line="${line}${aux_line}\n"
-  aux_line="\ \ // Possible state values are: PENDING,ACTIVE,RECALLED,REJECTED,PREEMPTED,ABORTED,SUCCEEDED and LOST"
+  aux_line="\ \ //// Possible state values are: PENDING,ACTIVE,RECALLED,REJECTED,PREEMPTED,ABORTED,SUCCEEDED and LOST"
   line="${line}${aux_line}\n"
-  aux_line="\ \ //${driver_alg}_.lock();"
+  aux_line="\ \ ////this->${driver_alg}_.lock();"
+  line="${line}${aux_line}\n"
+  aux_line="\ \ //ROS_INFO(\"${class_name}::mainNodeThread: ${topic_name}_client_ action state = %s\", ${topic_name}_state.toString().c_str());;"
   line="${line}${aux_line}\n"
   aux_line="\ \ //if(${topic_name}_state==actionlib::SimpleClientGoalState::ABORTED)"
   line="${line}${aux_line}\n"
   aux_line="\ \ //{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ //  do something"
+  aux_line="\ \ ////  do something"
   line="${line}${aux_line}\n"
   aux_line="\ \ //}"
   line="${line}${aux_line}\n"
@@ -316,12 +318,21 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="\ \ //{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ //  do something else"
+  aux_line="\ \ ////  do something else"
   line="${line}${aux_line}\n"
   aux_line="\ \ //}"
   line="${line}${aux_line}\n"
-  aux_line="\ \ //${topic_name}MakeActionRequest();"
+  aux_line="\ \ //static bool first=true;"
+  line="${line}${aux_line}\n"
+  aux_line="\ \ //if(first){"
+  line="${line}${aux_line}\n"
+  aux_line="\ \ //  first=false;"
   line="${line}${aux_line}\n"
+  aux_line="\ \ //  ${topic_name}MakeActionRequest();"
+  line="${line}${aux_line}\n"  
+  aux_line="\ \ //}"
+  line="${line}${aux_line}\n"
+
   comment="\[fill action structure and make request to the action server\]"
   add_line_to_file "${line}" "${comment}" "${node_c}"
 
@@ -329,7 +340,7 @@ function create_action_client
   line="${aux_line}\n"
   aux_line="{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.lock();"
+  aux_line="\ \ this->${driver_alg}_.lock();"
   line="${line}${aux_line}\n"
   aux_line="\ \ if( state == actionlib::SimpleClientGoalState::SUCCEEDED )"
   line="${line}${aux_line}\n"
@@ -341,7 +352,7 @@ function create_action_client
   line="${line}${aux_line}\n\n"
   aux_line="\ \ //copy & work with requested result"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.unlock();"
+  aux_line="\ \ this->${driver_alg}_.unlock();"
   line="${line}${aux_line}\n"
   aux_line="}"
   line="${line}${aux_line}\n\n"
@@ -349,11 +360,11 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.lock();"
+  aux_line="\ \ this->${driver_alg}_.lock();"
   line="${line}${aux_line}\n"
   aux_line="\ \ //ROS_INFO(\"${class_name}::${topic_name}Active: Goal just went active!\");"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.unlock();"
+  aux_line="\ \ this->${driver_alg}_.unlock();"
   line="${line}${aux_line}\n"
   aux_line="}"
   line="${line}${aux_line}\n\n"
@@ -361,7 +372,7 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.lock();"
+  aux_line="\ \ this->${driver_alg}_.lock();"
   line="${line}${aux_line}\n"
   aux_line="\ \ //ROS_INFO(\"${class_name}::${topic_name}Feedback: Got Feedback!\");"
   line="${line}${aux_line}\n\n"
@@ -383,7 +394,7 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="\ \ }"
   line="${line}${aux_line}\n"
-  aux_line="\ \ ${driver_alg}_.unlock();"
+  aux_line="\ \ this->${driver_alg}_.unlock();"
   line="${line}${aux_line}\n"
   aux_line="}"
   line="${line}${aux_line}\n"
@@ -400,13 +411,15 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="\ \ // other thread (MainNodeThread)."
   line="${line}${aux_line}\n"
+  aux_line="\ \ bool ok;"
+  line="${line}${aux_line}\n"
   aux_line="\ \ // this->${driver_alg}_.unlock();"
   line="${line}${aux_line}\n"
   aux_line="\ \ if(${client_name}.isServerConnected())"
   line="${line}${aux_line}\n"
   aux_line="\ \ {"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ //ROS_DEBUG(\"${class_name}::${topic_name}MakeActionRequest: Server is Available!\");"
+  aux_line="\ \ \ \ //ROS_INFO(\"${class_name}::${topic_name}MakeActionRequest: Server is Available!\");"
   line="${line}${aux_line}\n"
   aux_line="\ \ \ \ //send a goal to the action server"
   line="${line}${aux_line}\n"
@@ -420,9 +433,9 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ boost::bind(&${class_name}::${topic_name}Feedback, this, _1));"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ // this->${driver_alg}_.lock();"
+  aux_line="\ \ \ \ ROS_INFO(\"${class_name}::${topic_name}MakeActionRequest: Goal Sent.\");"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ // ROS_DEBUG(\"${class_name}::${topipc_name}MakeActionRequest: Goal Sent.\");"
+  aux_line="\ \ \ \ // ok=true;"
   line="${line}${aux_line}\n"
   aux_line="\ \ \ \ return true;"
   line="${line}${aux_line}\n"
@@ -432,14 +445,18 @@ function create_action_client
   line="${line}${aux_line}\n"
   aux_line="\ \ {"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ // this->${driver_alg}_.lock();"
+  aux_line="\ \ \ \ ROS_ERROR(\"${class_name}::${topic_name}MakeActionRequest: action server is not connected. Check remap or server presence.\");"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ // ROS_DEBUG(\"${class_name}::${topic_name}MakeActionRequest: HRI server is not connected\");"
+  aux_line="\ \ \ \ // ok=false;"
   line="${line}${aux_line}\n"
   aux_line="\ \ \ \ return false;"
   line="${line}${aux_line}\n"
   aux_line="\ \ }"
   line="${line}${aux_line}\n"
+  aux_line="\ \ \ \ // this->${driver_alg}_.lock();"
+  line="${line}${aux_line}\n"
+  aux_line="\ \ \ \ return ok;"
+  line="${line}${aux_line}\n"
   aux_line="}"
   line="${line}${aux_line}\n"
   comment="\[action requests\]"
diff --git a/libraries/create_client.sh b/libraries/create_client.sh
index 1ebb01723883d4db9c713a96bb013d9ac4125861..b89ccfd3c8d08a1a6b874fedc7671a93ec05ad4d 100755
--- a/libraries/create_client.sh
+++ b/libraries/create_client.sh
@@ -140,13 +140,15 @@ function create_client
 
   aux_line="//${topic_name}_srv_.request.data = my_var;"
   line="\ \ ${aux_line}\n"
-  aux_line="\ \ //ROS_INFO(\"${class_name}:: Sending New Request!\");"
+  aux_line="\ \ //ROS_INFO(\"${class_name}:: Calling service ${client_name}!\");"
   line="${line}${aux_line}\n"
   aux_line="\ \ //if (${client_name}.call(${topic_name}_srv_))"
   line="${line}${aux_line}\n"
   aux_line="\ \ //{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ //ROS_INFO(\"${class_name}:: Response: %s\", ${topic_name}_srv_.response.result);"
+  aux_line="\ \ //\ \ ROS_INFO(\"${class_name}:: ${client_name} received a response from service server\");"
+  line="${line}${aux_line}\n"
+  aux_line="\ \ ////\ \ ROS_INFO(\"${class_name}:: Response: %s\", ${topic_name}_srv_.response.somestringfield.c_str());"
   line="${line}${aux_line}\n"
   aux_line="\ \ //}"
   line="${line}${aux_line}\n"
@@ -154,7 +156,7 @@ function create_client
   line="${line}${aux_line}\n"
   aux_line="\ \ //{"
   line="${line}${aux_line}\n"
-  aux_line="\ \ \ \ //ROS_INFO(\"${class_name}:: Failed to Call Server on topic ${topic_name} \");"
+  aux_line="\ \ //\ \ ROS_INFO(\"${class_name}:: Failed to call service on topic %s\",this->${topic_name}_client_.getService().c_str());"
   line="${line}${aux_line}\n"
   aux_line="\ \ //}"
   line="${line}${aux_line}\n"