diff --git a/cfg/AdcJuryServer.cfg b/cfg/AdcJuryServer.cfg
index 2257b9186b1012e21c6882c7e1135238a140a461..9c8ea6a1a71d9d4c90b2de10b9018a310dd5d228 100755
--- a/cfg/AdcJuryServer.cfg
+++ b/cfg/AdcJuryServer.cfg
@@ -42,6 +42,10 @@ gen.add("rate",  double_t,  0,           "Main loop rate (Hz)",  10.0,   0.1, 10
 gen.add("feedback_status_text",  str_t,  0,           "Feedback text",  "feedback text example")
 gen.add("finish_action_with_success",  bool_t,  0,           "End action with success",  False)
 gen.add("finish_action_with_failure",  bool_t,  0,           "End action with failure",  False)
+gen.add("block_feedback",       bool_t,  0,           "Block action feedback function",                      True)
+gen.add("block_feedback_time",  double_t,  0,         "Time in seconds to block action feedback function",   1.0, 0.0, 10.0)
+gen.add("block_service",        bool_t,  0,           "Block service callback function",                     True)
+gen.add("block_service_time",   double_t,  0,         "Time in seconds to block service callback function",  3.0, 0.0, 10.0)
 
 
 exit(gen.generate(PACKAGE, "AdcJuryServerAlgorithm", "AdcJuryServer"))
diff --git a/src/adc_jury_server_alg_node.cpp b/src/adc_jury_server_alg_node.cpp
index 74bc90d0bda320665e001878f53ca76a509ac813..f739613cad4d757748ebc9269c8a7f0681e1fa8a 100644
--- a/src/adc_jury_server_alg_node.cpp
+++ b/src/adc_jury_server_alg_node.cpp
@@ -85,6 +85,10 @@ bool AdcJuryServerAlgNode::jury_modeCallback(iri_adc_msgs::jury_mode::Request &r
 
   ROS_INFO("AdcJuryServerAlgNode::jury_modeCallback: req=%d!",req.enable);
   //do operations with req and output on res
+
+  if(this->config_.block_service)
+    sleep(this->config_.block_service_time);
+
   //res.data2 = req.data1 + my_var;
 
   //unlock previously blocked shared variables
@@ -164,9 +168,15 @@ void AdcJuryServerAlgNode::adc_juryGetFeedbackCallback(iri_adc_msgs::adc_juryFee
 {
   this->alg_.lock();
   //update feedback data to be sent to client
-  feedback->status = this->config_.feedback_status_text;
+  static int i=0;
+  feedback->status = this->config_.feedback_status_text + std::to_string(i);;
+  i++;
   //ROS_INFO("feedback: %s", feedback->data.c_str());
   //ROS_INFO("AdcJuryServerAlgNode::adc_juryGetFeedbackCallback feedback.status='%s'", feedback->status.c_str());
+  if(this->config_.block_feedback)
+  {
+    sleep(this->config_.block_feedback_time);
+  }
   this->alg_.unlock();
 }