diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8a21bce..f699300 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,6 +137,9 @@ target_link_libraries(qros_robot_dynamics_interface
         ${catkin_LIBRARIES}
         dqrobotics)
 
+add_dependencies(qros_robot_dynamics_interface ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(qros_robot_dynamics_interface ${catkin_EXPORTED_TARGETS})
+
 
 add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
 target_link_libraries(sas_robot_driver_franka
@@ -150,7 +153,8 @@ target_link_libraries(qros_effector_driver_franka_hand
         dqrobotics
 #        robot_interface_hand
         Franka::Franka)
-
+add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(qros_effector_driver_franka_hand ${catkin_EXPORTED_TARGETS})
 
 add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
 target_link_libraries(sas_robot_driver_coppelia
@@ -200,6 +204,8 @@ include_directories(
 pybind_add_module(_qros_robot_dynamic SHARED
         src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
 )
+add_dependencies(_qros_robot_dynamic ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
 # https://github.com/pybind/pybind11/issues/387
 target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
diff --git a/include/sas_robot_driver_franka.h b/include/sas_robot_driver_franka.h
index 70ee6cf..7b1093b 100644
--- a/include/sas_robot_driver_franka.h
+++ b/include/sas_robot_driver_franka.h
@@ -61,6 +61,7 @@ struct RobotDriverFrankaConfiguration
     double speed;
     RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
     DQ robot_reference_frame = DQ(0);
+    bool automatic_error_recovery = false;
 };
 
 
diff --git a/src/sas_robot_driver_franka_node.cpp b/src/sas_robot_driver_franka_node.cpp
index 4c707a9..c561a4c 100644
--- a/src/sas_robot_driver_franka_node.cpp
+++ b/src/sas_robot_driver_franka_node.cpp
@@ -130,6 +130,16 @@ int main(int argc, char **argv)
         robot_driver_franka_configuration.robot_reference_frame = robot.get_reference_frame();
     }else{ROS_INFO_STREAM(ros::this_node::getName()+"::Robot parameter file path not set. Robot Model Unknow.");}
 
+    if(nh.hasParam(ros::this_node::getName()+"/automatic_error_recovery")) {
+        sas::get_ros_param(nh,"/automatic_error_recovery",robot_driver_franka_configuration.automatic_error_recovery);
+        if(robot_driver_franka_configuration.automatic_error_recovery)
+        {
+            ROS_WARN_STREAM(ros::this_node::getName()+"::Automatic error recovery enabled. STATUS EXPERIMENTAL");
+        }
+    }
+
+
+
     robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
 
     sas::RobotDriverROSConfiguration robot_driver_ros_configuration;