diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f73c7c..c082786 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -198,6 +198,31 @@ install(TARGETS
         DESTINATION lib/${PROJECT_NAME})
 
 
+##### JuanEmika
+
+add_executable(JuankaEmika
+        qt/configuration_window/main.cpp
+        qt/configuration_window/mainwindow.cpp
+        qt/configuration_window/mainwindow.ui
+)
+ament_target_dependencies(sas_robot_driver_franka_node
+        rclcpp sas_common sas_core
+        sas_robot_driver)
+
+target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
+        dqrobotics
+        robot_interface_franka
+)
+
+if (QT_VERSION_MAJOR EQUAL 6)
+    qt_finalize_executable(JuankaEmika)
+endif ()
+
+install(TARGETS
+        JuankaEmika
+        DESTINATION lib/${PROJECT_NAME})
+
+
 ##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
 ament_python_install_package(${PROJECT_NAME})
 
diff --git a/qt/configuration_window/mainwindow.h b/qt/configuration_window/mainwindow.h
index 09b0ee3..7b801be 100644
--- a/qt/configuration_window/mainwindow.h
+++ b/qt/configuration_window/mainwindow.h
@@ -7,7 +7,7 @@
 
 #include <QMainWindow>
 #include "qspinbox.h"
-#include "robot_interface_franka.h"
+#include <sas_robot_driver_franka/interfaces/robot_interface_franka.h>
 
 QT_BEGIN_NAMESPACE
 namespace Ui { class MainWindow; }
diff --git a/scripts/example_gripper_control.py b/scripts/example_gripper_control.py
index e287a0a..f0f917a 100644
--- a/scripts/example_gripper_control.py
+++ b/scripts/example_gripper_control.py
@@ -1,48 +1,61 @@
-import rospy
+import threading
 
+from sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown
+import rclpy
 from sas_robot_driver_franka import FrankaGripperInterface
+import time
 
 
-def main_loop():
-    rate = rospy.Rate(10)  # 10 Hz
+def main_loop(node):
     iteration_ = 0
-
-    hand1 = FrankaGripperInterface("/franka_hand_1")
+    node_name = node.get_name()
+    hand1 = FrankaGripperInterface(node, "/franka_hand_1")
+    logger = rclpy.node.get_logger(node_name)
 
     while not hand1.is_enabled():
-        rospy.loginfo("Waiting for gripper to be enabled...")
-        rate.sleep()
-    rospy.loginfo("Gripper enabled!")
+        logger.info("Waiting for gripper to be enabled...")
+        rclcpp_spin_some(node)
+        time.sleep(0.1)
+    rclpy.node.get_logger(node_name).info("Gripper enabled!")
 
-    rate = rospy.Rate(2)  # 0.5 Hz
+    def spin_all(node_):
+        while rclpy.ok():
+            rclcpp_spin_some(node_)
+            rclpy.spin_once(node_, timeout_sec=0.1)
+            time.sleep(0.1)
+            
+    thread = threading.Thread(target=spin_all, args=(node, ), daemon=True)
+    thread.start()
+    
+    rate = node.create_rate(2)
 
-    while not rospy.is_shutdown():
-        rospy.loginfo("Main loop running...")
+    while rclpy.ok():
+        logger.info("Main loop running...")
 
         # Get the temperature of the gripper
         temperature = hand1.get_temperature()
-        rospy.loginfo(f"Temperature: {temperature}")
+        logger.info(f"Temperature: {temperature}")
         max_width = hand1.get_max_width()
-        rospy.loginfo(f"Max width: {max_width}")
+        logger.info(f"Max width: {max_width}")
         width = hand1.get_width()
-        rospy.loginfo(f"Width: {width}")
+        logger.info(f"Width: {width}")
         is_grasped = hand1.is_grasped()
-        rospy.loginfo(f"Is grasped: {is_grasped}")
+        logger.info(f"Is grasped: {is_grasped}")
         is_moving = hand1.is_moving()
-        rospy.loginfo(f"Is moving: {is_moving}")
+        logger.info(f"Is moving: {is_moving}")
         is_grasping = hand1.is_grasping()
-        rospy.loginfo(f"Is grasping: {is_grasping}")
-        rospy.logwarn("calling move(0.01)")
+        logger.info(f"Is grasping: {is_grasping}")
+        logger.warn("calling move(0.01)")
         if not hand1.is_busy():
             hand1.grasp(0.01)
         else:
-            rospy.logwarn("Gripper is busy. Waiting...")
+            logger.warn("Gripper is busy. Waiting...")
         result_ready = hand1.is_done()
         if not result_ready:
-            rospy.loginfo("Waiting for gripper to finish moving...")
+            logger.info("Waiting for gripper to finish moving...")
         else:
             result = hand1.get_result()
-            rospy.loginfo(f"Result: {result}")
+            logger.info(f"Result: {result}")
 
 
         # Check if there is a response in the queue
@@ -50,7 +63,12 @@ def main_loop():
         iteration_ += 1
         rate.sleep()
 
+    rclpy.shutdown()
+    thread.join()
+
 
 if __name__ == "__main__":
-    rospy.init_node("example_gripper_control_node")
-    main_loop()
+    rclpy.init()
+    node_name_ = "example_gripper_control_node"
+    NODE = rclpy.create_node(node_name_)
+    main_loop(NODE)
diff --git a/scripts/publish_dumy_robot_dynmaics.py b/scripts/publish_dumy_robot_dynmaics.py
index 2b0123d..c1e1102 100644
--- a/scripts/publish_dumy_robot_dynmaics.py
+++ b/scripts/publish_dumy_robot_dynmaics.py
@@ -1,5 +1,5 @@
 import rospy
-from sas_robot_driver_franka import RobotDynamicsProvider
+from sas_robot_driver_franka import RobotDynamicsServer
 import dqrobotics as dql
 import numpy as np