diff --git a/src/tiago_arm_bt_module.cpp b/src/tiago_arm_bt_module.cpp
index 229df8360a9a5e86c97a56a2ac9541d308939746..8270a5b01046324aece51c7f74aa7aaec3f2a8df 100644
--- a/src/tiago_arm_bt_module.cpp
+++ b/src/tiago_arm_bt_module.cpp
@@ -7,6 +7,12 @@ CTiagoArmModuleBT::CTiagoArmModuleBT() :
 
 }
 
+CTiagoArmModuleBT::CTiagoArmModuleBT(std::string &module_name) :
+  tiago_arm_module(module_name,ros::this_node::getName())
+{
+
+}
+
 void CTiagoArmModuleBT::init(IriBehaviorTreeFactory &factory)
 {
   //Definition of ports