diff --git a/CMakeLists.txt b/CMakeLists.txt
index 72267f2873a73070798ffa4c7fafb375da3005c8..adca6f34965e49ca4bfa23a8fe344eb6ef3597a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,7 +77,7 @@ catkin_python_setup()
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS roscpp 
+  CATKIN_DEPENDS roscpp rospy
 )
 
 ###########
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index 4397ff5badaa41d44d29df588c5e04b520c4131a..e968d46707a5219c9da06c7db71dd2009287f2f9 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -602,12 +602,11 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
   boost::any value;
 
   params=dyn_reconf_config::__getParamDescriptions__();
-
   for(typename std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
   {
+    (*param)->getValue(config,value);
     if((*param)->name==(name+"_num_retries"))
     {
-      (*param)->getValue(config,value);
       if(value.type()==typeid(int))
         this->set_max_num_retries(boost::any_cast<int &>(value));
     }
@@ -621,15 +620,13 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
           enable_timeout=false;
       }
     }
-    if((*param)->name==(name+"_timeout_s"))
+    else if((*param)->name==(name+"_timeout_s"))
     {
-      (*param)->getValue(config,value);
       if(value.type()==typeid(double))
         timeout=boost::any_cast<double &>(value);
     }
-    if((*param)->name==(name+"_feedback_watchdog_time_s"))
+    else if((*param)->name==(name+"_feedback_watchdog_time_s"))
     {
-      (*param)->getValue(config,value);
       if(value.type()==typeid(double))
         watchdog=boost::any_cast<double &>(value);
     }
@@ -660,6 +657,8 @@ void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf
     this->disable_timeout();
   if(enable_watchdog)
     this->enable_watchdog(watchdog);
+  else
+    this->disable_watchdog();
 }
 
 
@@ -740,7 +739,10 @@ bool CModuleAction<action_ros,dyn_reconf_config>::is_watchdog_active(void)
     }
   }
   else
+  {
+    this->action_access.exit();
     return false;
+  }
 }
 
 template<class action_ros,class dyn_reconf_config>
diff --git a/package.xml b/package.xml
index cf2f79436058d0879e2a619cf7c98c5225543671..dfc607c3376927d4bed49e916c242b0a6d1a1dc7 100644
--- a/package.xml
+++ b/package.xml
@@ -14,6 +14,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <depend>roscpp</depend>
+  <depend>rospy</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/src/iri_ros_tools/dyn_params.py b/src/iri_ros_tools/dyn_params.py
index 93ce21b585a6c0fd4db67ed29baaa19642e46822..bf54e48a5e760daea1eda12ec56043ed0f610b8b 100644
--- a/src/iri_ros_tools/dyn_params.py
+++ b/src/iri_ros_tools/dyn_params.py
@@ -14,9 +14,9 @@ def add_module_action_params(gen,name):
 
   new_group.add(name+"_num_retries",             int_t,   0,"Number of times an action will be called before reporting an error",1,     1,      10)
   new_group.add(name+"_enable_timeout",          bool_t,  0,"Enable or disable the timeout feature",                             True)
-  new_group.add(name+"_timeout_s",               double_t,0,"Maximum time in second to wait for the action to complete",         10.0,  1.0,    600.0)
-  new_group.add(name+"_enable_iwatchdog",        bool_t,  0,"Enable or disable the watchdog feature",                            True)
-  new_group.add(name+"_feedback_watchdog_time_s",double_t,0,"Maximum time in second between two consecutive feedback topics",    2.0,   1.0,    100.0)
+  new_group.add(name+"_timeout_s",               double_t,0,"Maximum time in second to wait for the action to complete",         10.0,  0.1,    600.0)
+  new_group.add(name+"_enable_watchdog",         bool_t,  0,"Enable or disable the watchdog feature",                            True)
+  new_group.add(name+"_feedback_watchdog_time_s",double_t,0,"Maximum time in second between two consecutive feedback topics",    2.0,   0.1,    100.0)
   new_group.add(name+"_enabled",                 bool_t,  0,"Enable or disable the actual action request",                       True)
 
   return new_group