diff --git a/src/drivers/MAVLinkServer/MAVProxy/uav_viewer_py.yml b/src/drivers/MAVLinkServer/MAVProxy/uav_viewer_py.yml
deleted file mode 100644
index d2e72d586..000000000
--- a/src/drivers/MAVLinkServer/MAVProxy/uav_viewer_py.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-Camera:
-  Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
-  Proxy: "default -h 0.0.0.0 -p 9999"
-  Format: RGB8
-  Topic: "/MavLink/image_raw"
-  Name: MavLinkCamera
-
-Pose3D:
-  Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
-  Proxy: "default -h 0.0.0.0 -p 9998"
-  Topic: "/MavLink/Pose3D"
-  Name: MavLinkPose3d
-
-CMDVel:
-  Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
-  Proxy: "default -h 0.0.0.0 -p 9997"
-  Topic: "/MavLink/CMDVel"
-  Name: MavLinkCMDVel
-
-Navdata:
-  Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
-  Proxy: "default -h 0.0.0.0 -p 9996"
-  Topic: "/MavLink/Navdata"
-  Name: MavLinkNavdata
-
-Extra:
-  Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
-  Proxy: "default -h 0.0.0.0 -p 9995"
-  Topic: "/MavLink/Extra"
-  Name: MavLinkExtra
diff --git a/src/drivers/YoutubeServer/youtubeserver.yml b/src/drivers/YoutubeServer/youtubeserver.yml
index 9f0a4692b..3138e66bc 100644
--- a/src/drivers/YoutubeServer/youtubeserver.yml
+++ b/src/drivers/YoutubeServer/youtubeserver.yml
@@ -1,6 +1,6 @@
 youtubeServer:
   ImageSrv:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS (Not supported)
+    Server: Ice #Deactivate, Ice , ROS (Not supported)
     Proxy: "default -h 0.0.0.0 -p 9999"
     URL: "https://www.youtube.com/watch?v=zw47_q9wbBE"
     LiveBroadcast: False #True for youtube live events
@@ -10,4 +10,3 @@ youtubeServer:
     Name: youtubeServer_py
 
   NodeName: youtubeServerCfg
-
diff --git a/src/examples/basic_component/basic_component.yml b/src/examples/basic_component/basic_component.yml
index 0c473255d..b0570ee77 100644
--- a/src/examples/basic_component/basic_component.yml
+++ b/src/examples/basic_component/basic_component.yml
@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_componentCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
@@ -17,4 +17,3 @@ basic_component:
   NodeName: basic_component
   Vmax: 5
   Wmax: 0.5
-
diff --git a/src/examples/basic_component_py/basic_component_py.yml b/src/examples/basic_component_py/basic_component_py.yml
index 561135419..94369b82c 100644
--- a/src/examples/basic_component_py/basic_component_py.yml
+++ b/src/examples/basic_component_py/basic_component_py.yml
@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_component_pyCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
diff --git a/src/libs/comm_cpp/src/ardroneextraClient.cpp b/src/libs/comm_cpp/src/ardroneextraClient.cpp
index 330c70389..0bdfddc92 100644
--- a/src/libs/comm_cpp/src/ardroneextraClient.cpp
+++ b/src/libs/comm_cpp/src/ardroneextraClient.cpp
@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-ArDroneExtraClient* 
+ArDroneExtraClient*
 getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix){
 	ArDroneExtraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/bumperClient.cpp b/src/libs/comm_cpp/src/bumperClient.cpp
index 090a6034d..f6baee909 100644
--- a/src/libs/comm_cpp/src/bumperClient.cpp
+++ b/src/libs/comm_cpp/src/bumperClient.cpp
@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-BumperClient* 
+BumperClient*
 getBumperClient(Comm::Communicator* jdrc, std::string prefix){
 	BumperClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/cameraClient.cpp b/src/libs/comm_cpp/src/cameraClient.cpp
index f52c57de8..3466cbd26 100644
--- a/src/libs/comm_cpp/src/cameraClient.cpp
+++ b/src/libs/comm_cpp/src/cameraClient.cpp
@@ -24,12 +24,21 @@
 
 namespace Comm {
 
-CameraClient* 
+CameraClient*
 getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 	CameraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -76,4 +85,4 @@ getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
\ No newline at end of file
+}//NS
diff --git a/src/libs/comm_cpp/src/cmdvelClient.cpp b/src/libs/comm_cpp/src/cmdvelClient.cpp
index 43943e5d6..19a916ecc 100644
--- a/src/libs/comm_cpp/src/cmdvelClient.cpp
+++ b/src/libs/comm_cpp/src/cmdvelClient.cpp
@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-CMDVelClient* 
+CMDVelClient*
 getCMDVelClient(Comm::Communicator* jdrc, std::string prefix){
 	CMDVelClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/laserClient.cpp b/src/libs/comm_cpp/src/laserClient.cpp
index 71de12e20..7ea71475c 100644
--- a/src/libs/comm_cpp/src/laserClient.cpp
+++ b/src/libs/comm_cpp/src/laserClient.cpp
@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-LaserClient* 
+LaserClient*
 getLaserClient(Comm::Communicator* jdrc, std::string prefix){
 	LaserClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/motorsClient.cpp b/src/libs/comm_cpp/src/motorsClient.cpp
index 8fc10f160..6081ef874 100644
--- a/src/libs/comm_cpp/src/motorsClient.cpp
+++ b/src/libs/comm_cpp/src/motorsClient.cpp
@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-MotorsClient* 
+MotorsClient*
 getMotorsClient(Comm::Communicator* jdrc, std::string prefix){
 	MotorsClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/navdataClient.cpp b/src/libs/comm_cpp/src/navdataClient.cpp
index 65a1a6029..7ee90d81e 100644
--- a/src/libs/comm_cpp/src/navdataClient.cpp
+++ b/src/libs/comm_cpp/src/navdataClient.cpp
@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-NavdataClient* 
+NavdataClient*
 getNavdataClient(Comm::Communicator* jdrc, std::string prefix){
 	NavdataClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{
diff --git a/src/libs/comm_cpp/src/pose3dClient.cpp b/src/libs/comm_cpp/src/pose3dClient.cpp
index 80c8d2f9b..0e9bd93bb 100644
--- a/src/libs/comm_cpp/src/pose3dClient.cpp
+++ b/src/libs/comm_cpp/src/pose3dClient.cpp
@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-Pose3dClient* 
+Pose3dClient*
 getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 	Pose3dClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -57,4 +66,4 @@ getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
\ No newline at end of file
+}//NS
diff --git a/src/libs/comm_cpp/src/rgbdClient.cpp b/src/libs/comm_cpp/src/rgbdClient.cpp
index 9c961809e..6db445d31 100644
--- a/src/libs/comm_cpp/src/rgbdClient.cpp
+++ b/src/libs/comm_cpp/src/rgbdClient.cpp
@@ -24,12 +24,21 @@
 
 namespace Comm {
 
-RgbdClient* 
+RgbdClient*
 getRgbdClient(Comm::Communicator* jdrc, std::string prefix){
 	RgbdClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -77,4 +86,4 @@ getRgbdClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
\ No newline at end of file
+}//NS
diff --git a/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in b/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in
index f5b06fa96..71b1073ee 100644
--- a/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in
@@ -35,7 +35,7 @@ def __getPublisherArDroneExtra(jdrc, prefix):
     @return ArDroneExtra ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -71,9 +71,12 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/ardroneextraClient.py.ros.in b/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
index b29238ffb..63b562d8d 100644
--- a/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
+++ b/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
@@ -35,7 +35,7 @@ def __getPublisherArDroneExtra(jdrc, prefix):
     @return ArDroneExtra ROS Publisher
 
     '''
-    
+
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -71,9 +71,12 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/bumperClient.py.only-ice.in b/src/libs/comm_py/comm/bumperClient.py.only-ice.in
index 9947e1070..dfad02341 100644
--- a/src/libs/comm_py/comm/bumperClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/bumperClient.py.only-ice.in
@@ -66,8 +66,13 @@ def getBumperClient (jdrc, prefix):
     @return None if Bumper is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Bumperdisabled, __getBumperIceClient, __getListenerBumper]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/bumperClient.py.ros.in b/src/libs/comm_py/comm/bumperClient.py.ros.in
index e15e7a875..3025b9401 100644
--- a/src/libs/comm_py/comm/bumperClient.py.ros.in
+++ b/src/libs/comm_py/comm/bumperClient.py.ros.in
@@ -75,8 +75,13 @@ def getBumperClient (jdrc, prefix):
     @return None if Bumper is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Bumperdisabled, __getBumperIceClient, __getListenerBumper]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/cameraClient.py.only-ice.in b/src/libs/comm_py/comm/cameraClient.py.only-ice.in
index ba3082568..b245b3e2b 100644
--- a/src/libs/comm_py/comm/cameraClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/cameraClient.py.only-ice.in
@@ -33,7 +33,7 @@ def __getListenerCamera(jdrc, prefix):
     @return Camera ROS Subscriber
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -66,8 +66,13 @@ def getCameraClient (jdrc, prefix):
     @return None if Camera is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Cameradisabled, __getCameraIceClient, __getListenerCamera]
 
-    return cons[server](jdrc, name)
\ No newline at end of file
+    return cons[server](jdrc, name)
diff --git a/src/libs/comm_py/comm/cameraClient.py.ros.in b/src/libs/comm_py/comm/cameraClient.py.ros.in
index fda8a419a..e64c18e92 100644
--- a/src/libs/comm_py/comm/cameraClient.py.ros.in
+++ b/src/libs/comm_py/comm/cameraClient.py.ros.in
@@ -75,8 +75,13 @@ def getCameraClient (jdrc, prefix):
     @return None if Camera is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Cameradisabled, __getCameraIceClient, __getListenerCamera]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in b/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in
index e56668c21..2c6317100 100644
--- a/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in
@@ -35,7 +35,7 @@ def __getPublisherCMDVel(jdrc, prefix):
     @return CMDVel ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -71,9 +71,12 @@ def getCMDVelClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__CMDVeldisabled, __getCMDVelIceClient, __getPublisherCMDVel]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/cmdvelClient.py.ros.in b/src/libs/comm_py/comm/cmdvelClient.py.ros.in
index 5e9be18c9..6a9af146a 100644
--- a/src/libs/comm_py/comm/cmdvelClient.py.ros.in
+++ b/src/libs/comm_py/comm/cmdvelClient.py.ros.in
@@ -35,7 +35,7 @@ def __getPublisherCMDVel(jdrc, prefix):
     @return CMDVel ROS Publisher
 
     '''
-    
+
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -71,9 +71,12 @@ def getCMDVelClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__CMDVeldisabled, __getCMDVelIceClient, __getPublisherCMDVel]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/communicator.py.only-ice.in b/src/libs/comm_py/comm/communicator.py.only-ice.in
index d1e51662e..54ab093fb 100644
--- a/src/libs/comm_py/comm/communicator.py.only-ice.in
+++ b/src/libs/comm_py/comm/communicator.py.only-ice.in
@@ -24,7 +24,7 @@ class Communicator:
 	    Communicator constructor
 
 	    @param config: configuration of communicator
-	    
+
 	    @type config: dict
 
 	    '''
@@ -37,7 +37,7 @@ class Communicator:
 
 		ymlNode = self.config.getProperty(prefix)
 		for i in ymlNode:
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"] == 1:
+			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ice":
 				iceserver = True
 
 		if iceserver:
@@ -60,7 +60,7 @@ class Communicator:
 		return self.__ic
 
 	def getConfig(self):
-		return self.config 
+		return self.config
 
 
 	def getCameraClient(self, name):
@@ -68,7 +68,7 @@ class Communicator:
 	    Returns a Camera client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -79,7 +79,7 @@ class Communicator:
 	    Returns a Motors client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -90,7 +90,7 @@ class Communicator:
 	    Returns a PTMotors client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -101,7 +101,7 @@ class Communicator:
 	    Returns a Pose3D client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -112,7 +112,7 @@ class Communicator:
 	    Returns a Laser client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -123,7 +123,7 @@ class Communicator:
 	    Returns a RGBD client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -134,7 +134,7 @@ class Communicator:
 	    Returns a CMDVel client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -145,7 +145,7 @@ class Communicator:
 	    Returns a Navdata client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -156,7 +156,7 @@ class Communicator:
 	    Returns a ArDroneExtra client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -168,7 +168,7 @@ class Communicator:
 	    Returns a Bumper client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -179,9 +179,8 @@ class Communicator:
 	    Returns a Sonar client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
 		return getSonarClient(self, name)
-
diff --git a/src/libs/comm_py/comm/communicator.py.ros.in b/src/libs/comm_py/comm/communicator.py.ros.in
index 34d24af5f..41bec377e 100644
--- a/src/libs/comm_py/comm/communicator.py.ros.in
+++ b/src/libs/comm_py/comm/communicator.py.ros.in
@@ -25,7 +25,7 @@ class Communicator:
 	    Communicator constructor
 
 	    @param config: configuration of communicator
-	    
+
 	    @type config: dict
 
 	    '''
@@ -38,9 +38,9 @@ class Communicator:
 
 		ymlNode = self.config.getProperty(prefix)
 		for i in ymlNode:
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"] == 1:
+			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ice":
 				iceserver = True
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"] == 2:
+			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ros":
 				rosserver = True
 
 		if rosserver:
@@ -66,8 +66,8 @@ class Communicator:
 	def getIc(self):
 		return self.__ic
 
-	def getConfig(self):	
-		return self.config 
+	def getConfig(self):
+		return self.config
 
 
 	def getCameraClient(self, name):
@@ -75,7 +75,7 @@ class Communicator:
 	    Returns a Camera client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -86,7 +86,7 @@ class Communicator:
 	    Returns a Motors client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -97,7 +97,7 @@ class Communicator:
 	    Returns a Pose3D client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -108,7 +108,7 @@ class Communicator:
 	    Returns a Laser client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -120,7 +120,7 @@ class Communicator:
 	    Returns a RGBD client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -131,7 +131,7 @@ class Communicator:
 	    Returns a CMDVel client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -142,7 +142,7 @@ class Communicator:
 	    Returns a Navdata client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -153,7 +153,7 @@ class Communicator:
 	    Returns a ArDroneExtra client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -164,7 +164,7 @@ class Communicator:
 	    Returns a PTMotors client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -175,7 +175,7 @@ class Communicator:
 	    Returns a Bumper client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
@@ -186,9 +186,8 @@ class Communicator:
 	    Returns a Sonar client with the configration indicated by the name
 
 	    @param name: name of the client in the config
-	    
+
 	    @type name: String
 
 	    '''
 		return getSonarClient(self, name)
-
diff --git a/src/libs/comm_py/comm/laserClient.py.only-ice.in b/src/libs/comm_py/comm/laserClient.py.only-ice.in
index 83c5e3212..b0dd3fb77 100644
--- a/src/libs/comm_py/comm/laserClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/laserClient.py.only-ice.in
@@ -66,8 +66,13 @@ def getLaserClient (jdrc, prefix):
     @return None if Laser is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/laserClient.py.ros.in b/src/libs/comm_py/comm/laserClient.py.ros.in
index ef6afbbd3..fcc73bd66 100644
--- a/src/libs/comm_py/comm/laserClient.py.ros.in
+++ b/src/libs/comm_py/comm/laserClient.py.ros.in
@@ -75,8 +75,13 @@ def getLaserClient (jdrc, prefix):
     @return None if Laser is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/motorsClient.py.only-ice.in b/src/libs/comm_py/comm/motorsClient.py.only-ice.in
index 10c5ece30..e6a33857a 100644
--- a/src/libs/comm_py/comm/motorsClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/motorsClient.py.only-ice.in
@@ -35,7 +35,7 @@ def __getPublisherMotors(jdrc, prefix):
     @return Motors ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -70,8 +70,13 @@ def getMotorsClient (jdrc, prefix):
     @return None if Motors is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Motorsdisabled, __getMotorsIceClient, __getPublisherMotors]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/motorsClient.py.ros.in b/src/libs/comm_py/comm/motorsClient.py.ros.in
index 022f338bd..7765a4829 100644
--- a/src/libs/comm_py/comm/motorsClient.py.ros.in
+++ b/src/libs/comm_py/comm/motorsClient.py.ros.in
@@ -45,14 +45,14 @@ def __getPublisherMotors(jdrc, prefix):
         if not maxW:
             maxW = 0.5
             print (prefix+".maxW not provided, the default value is used: "+ repr(maxW))
-                
+
 
         maxV = jdrc.getConfig().getPropertyWithDefault(prefix+".maxV", 5)
         if not maxV:
             maxV = 5
             print (prefix+".maxV not provided, the default value is used: "+ repr(maxV))
 
-        
+
         client = PublisherMotors(topic, maxV, maxW)
         return client
     else:
@@ -90,8 +90,13 @@ def getMotorsClient (jdrc, prefix):
     @return None if Motors is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Motorsdisabled, __getMotorsIceClient, __getPublisherMotors]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/navdataClient.py.only-ice.in b/src/libs/comm_py/comm/navdataClient.py.only-ice.in
index f1be2d4c3..a5d59d803 100644
--- a/src/libs/comm_py/comm/navdataClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/navdataClient.py.only-ice.in
@@ -35,7 +35,7 @@ def __getPublisherNavdata(jdrc, prefix):
     @return Navdata ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -71,9 +71,12 @@ def getNavdataClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Navdatadisabled, __getNavdataIceClient, __getPublisherNavdata]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/navdataClient.py.ros.in b/src/libs/comm_py/comm/navdataClient.py.ros.in
index 1501e5661..1ecd6601c 100644
--- a/src/libs/comm_py/comm/navdataClient.py.ros.in
+++ b/src/libs/comm_py/comm/navdataClient.py.ros.in
@@ -35,7 +35,7 @@ def __getPublisherNavdata(jdrc, prefix):
     @return Navdata ROS Publisher
 
     '''
-    
+
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -71,9 +71,12 @@ def getNavdataClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Navdatadisabled, __getNavdataIceClient, __getPublisherNavdata]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/pose3dClient.py.only-ice.in b/src/libs/comm_py/comm/pose3dClient.py.only-ice.in
index eb3f657dc..39627f385 100644
--- a/src/libs/comm_py/comm/pose3dClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/pose3dClient.py.only-ice.in
@@ -67,8 +67,13 @@ def getPose3dClient (jdrc, prefix):
     @return None if pose3d is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Posedisabled, __getPoseIceClient, __getListenerPose]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/pose3dClient.py.ros.in b/src/libs/comm_py/comm/pose3dClient.py.ros.in
index 35dbc9bd4..71586b449 100644
--- a/src/libs/comm_py/comm/pose3dClient.py.ros.in
+++ b/src/libs/comm_py/comm/pose3dClient.py.ros.in
@@ -78,8 +78,13 @@ def getPose3dClient (jdrc, prefix):
     @return None if pose3d is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Posedisabled, __getPoseIceClient, __getListenerPose]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in b/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in
index c06a304b5..f59a419b4 100644
--- a/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in
@@ -35,7 +35,7 @@ def __getPublisherPTMotors(jdrc, prefix):
     @return PTMotors ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -70,8 +70,13 @@ def getPTMotorsClient (jdrc, prefix):
     @return None if PTMotors is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__PTMotorsdisabled, __getPTMotorsIceClient, __getPublisherPTMotors]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/ptMotorsClient.py.ros.in b/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
index 8ac285629..aa05b3fb4 100644
--- a/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
+++ b/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
@@ -35,7 +35,7 @@ def __getPublisherPTMotors(jdrc, prefix):
     @return PTMotors ROS Publisher
 
     '''
-    
+
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -70,8 +70,13 @@ def getPTMotorsClient (jdrc, prefix):
     @return None if PTMotors is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__PTMotorsdisabled, __getPTMotorsIceClient, __getPublisherPTMotors]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/rgbdClient.py.only-ice.in b/src/libs/comm_py/comm/rgbdClient.py.only-ice.in
index b9b34c950..ffaa70d50 100644
--- a/src/libs/comm_py/comm/rgbdClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/rgbdClient.py.only-ice.in
@@ -69,7 +69,12 @@ def getRgbdClient (jdrc, prefix):
     @return None if Rgbd is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Rgbddisabled, __getRgbdIceClient, __getListenerRgbd]
 
diff --git a/src/libs/comm_py/comm/rgbdClient.py.ros.in b/src/libs/comm_py/comm/rgbdClient.py.ros.in
index 06a049efc..0ad12e22f 100644
--- a/src/libs/comm_py/comm/rgbdClient.py.ros.in
+++ b/src/libs/comm_py/comm/rgbdClient.py.ros.in
@@ -78,7 +78,12 @@ def getRgbdClient (jdrc, prefix):
     @return None if Rgbd is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Rgbddisabled, __getRgbdIceClient, __getListenerRgbd]
 
diff --git a/src/libs/comm_py/comm/sonarClient.py.only-ice.in b/src/libs/comm_py/comm/sonarClient.py.only-ice.in
index ed3e42dd8..ba7172253 100644
--- a/src/libs/comm_py/comm/sonarClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/sonarClient.py.only-ice.in
@@ -67,9 +67,12 @@ def getSonarClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/sonarClient.py.ros.in b/src/libs/comm_py/comm/sonarClient.py.ros.in
index 0f2364749..f5f2226f2 100644
--- a/src/libs/comm_py/comm/sonarClient.py.ros.in
+++ b/src/libs/comm_py/comm/sonarClient.py.ros.in
@@ -34,7 +34,7 @@ def __getListenerSonar(jdrc, prefix):
 
     @return Laser ROS Subscriber
 
-    '''    
+    '''
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -68,9 +68,12 @@ def getSonarClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Sonardisabled, __getSonarIceClient, __getListenerSonar]
 
-    return cons[server](jdrc, prefix)
\ No newline at end of file
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/tests/test.yml b/src/libs/comm_py/tests/test.yml
index 8c679a42e..5b4b34225 100644
--- a/src/libs/comm_py/tests/test.yml
+++ b/src/libs/comm_py/tests/test.yml
@@ -1,6 +1,6 @@
 Test:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: testMotors
@@ -8,55 +8,55 @@ Test:
     maxW: 0.7
 
   Camera1:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: testCamera1
 
   Camera2:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraR:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraR/image_raw"
     Name: testCamera2
 
   Pose3D:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Pose3D:default -h localhost -p 9001"
     Topic: "/turtlebotROS/odom"
     Name: testPose3d
 
   Laser:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Laser:default -h localhost -p 9001"
     Topic: "/turtlebotROS/laser/scan"
     Name: testLaser
 
   Sonar:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Sonar:default -h localhost -p 8993"
     Topic: "/turtlebotROS/laser/scan"
     Name: testSonar
 
   CMDVel:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CMDVel:default -h 0.0.0.0 -p 9000"
 
   Navdata:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: Navdata:default -h 0.0.0.0 -p 9000
 
   Extra:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: Extra:default -h 0.0.0.0 -p 9000
 
   Bumper:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: Extra:default -h 0.0.0.0 -p 9000
     Topic: "/turtlebotROS/mobile_base/events/bumper"
     Name: testPose3d
 
   Vmax: 3
   Wmax: 0.7
-  NodeName: JdeRobotCommTest
\ No newline at end of file
+  NodeName: JdeRobotCommTest
diff --git a/src/libs/config_cpp/src/demo/demo.yml b/src/libs/config_cpp/src/demo/demo.yml
index 04a17ada4..725ebb2ec 100644
--- a/src/libs/config_cpp/src/demo/demo.yml
+++ b/src/libs/config_cpp/src/demo/demo.yml
@@ -1,18 +1,17 @@
 Demo:
   Motors:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_component_pyCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: basic_component_pyCamera
 
   NodeName: demo
-
diff --git a/src/libs/config_py/demo/demo.yml b/src/libs/config_py/demo/demo.yml
index abc5b1518..3600abea2 100644
--- a/src/libs/config_py/demo/demo.yml
+++ b/src/libs/config_py/demo/demo.yml
@@ -1,18 +1,17 @@
 Demo:
   Motors:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: Motors:default -h localhost -p 9001
     Topic: '/turtlebotROS/mobile_base/commands/velocity'
     Name: basic_component_pyCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: basic_component_pyCamera
 
   NodeName: demo
-
diff --git a/src/tools/cameraview/cameraview.yml b/src/tools/cameraview/cameraview.yml
index 794c83f25..9b936ec35 100644
--- a/src/tools/cameraview/cameraview.yml
+++ b/src/tools/cameraview/cameraview.yml
@@ -1,10 +1,10 @@
 Cameraview:
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "cameraA:tcp -h localhost -p 9999"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: cameraA
     Fps: 30
 
-  NodeName: cameraview
\ No newline at end of file
+  NodeName: cameraview
diff --git a/src/tools/colorTuner_py/colorTuner_py.yml b/src/tools/colorTuner_py/colorTuner_py.yml
index f1167d452..f4a8176c0 100644
--- a/src/tools/colorTuner_py/colorTuner_py.yml
+++ b/src/tools/colorTuner_py/colorTuner_py.yml
@@ -1,6 +1,6 @@
 ColorTuner:
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "cameraA:tcp -h localhost -p 9999"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
diff --git a/src/tools/kobukiViewer/kobukiViewer.yml b/src/tools/kobukiViewer/kobukiViewer.yml
index 6240df791..95dd26dbb 100644
--- a/src/tools/kobukiViewer/kobukiViewer.yml
+++ b/src/tools/kobukiViewer/kobukiViewer.yml
@@ -1,6 +1,6 @@
 kobukiViewer:
   Motors:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: kobukiViewerMotors
@@ -8,27 +8,27 @@ kobukiViewer:
     maxW: 0.7
 
   Camera1:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: kobukiViewerCamera1
 
   Camera2:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "CameraR:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraR/image_raw"
     Name: kobukiViewerCamera2
 
   Pose3D:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "Pose3D:default -h localhost -p 9001"
     Topic: "//turtlebotROS/odom"
     Name: kobukiViewerPose3d
 
   Laser:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "Laser:default -h localhost -p 9001"
     Topic: "/turtlebotROS/laser/scan"
     Name: kobukiViewerLaser
diff --git a/src/tools/pantilt_teleop_py/pantilt_teleop.yml b/src/tools/pantilt_teleop_py/pantilt_teleop.yml
index 2fd472ba6..42312070e 100644
--- a/src/tools/pantilt_teleop_py/pantilt_teleop.yml
+++ b/src/tools/pantilt_teleop_py/pantilt_teleop.yml
@@ -1,15 +1,14 @@
 pantilt_teleop:
   PTMotors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS (Not supported)
+    Server: Ice # Deactivate, Ice , ROS (Not supported)
     Proxy: "PanTilt:default -h localhost -p 9977"
     Name: basic_component_pyPTMotors
-  
+
   Camera:
-    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: ROS # Deactivate, Ice , ROS
     Proxy: "cameraA:default -h localhost -p 9999"
     Format: RGB8
     Topic: "/usb_cam/image_raw"
     Name: pantilt_teleop_pyCamera
 
   NodeName: pantilt_teleop_py
-
diff --git a/src/tools/rgbdViewer/rgbdViewer.yml b/src/tools/rgbdViewer/rgbdViewer.yml
index 0d982c075..166c889f4 100644
--- a/src/tools/rgbdViewer/rgbdViewer.yml
+++ b/src/tools/rgbdViewer/rgbdViewer.yml
@@ -1,6 +1,6 @@
 rgbdViewer:
   CameraRGB:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "cameraA:tcp -h localhost -p 9999"
     Format: RGB8
     Topic: "/camera/rgb/image_raw"
@@ -8,7 +8,7 @@ rgbdViewer:
     Fps: 30
 
   CameraDEPTH:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice, ROS
     Proxy: "cameraB:tcp -h localhost -p 9999"
     Format: RGB8
     Topic: "/camera/depth_registered/image_raw"
@@ -16,27 +16,27 @@ rgbdViewer:
     Fps: 30
 
   PointCloud:
-    Server: 0 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Deactivate # Deactivate, Ice, ROS
     Proxy: "pointcloud1:tcp -h localhost -p 9999"
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: pointcloud
     Fps: 30
 
   RGBD:
-    Server: 0 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Deactivate # Deactivate, Ice, ROS
     Proxy: "rgbd1:tcp -h localhost -p 9999"
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: RGBD
     Fps: 30
 
   Pose3DMotors:
-    Server: 0 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Deactivate # Deactivate, Ice, ROS
     Proxy: "Pose3DMotors1:tcp -h 193.147.14.20 -p 9999"
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: Pose3DMotors
 
   KinectLeds:
-    Server: 0 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Deactivate # Deactivate, Ice, ROS
     Proxy: "kinectleds1:tcp -h 193.147.14.20 -p 9999"
     Topic: "/TurtlebotROS/cameraL/image_raw"
     Name: KinectLeds
diff --git a/src/tools/scratch2jderobot/cfg/drone.yml b/src/tools/scratch2jderobot/cfg/drone.yml
index 57fc7906c..6784a6743 100644
--- a/src/tools/scratch2jderobot/cfg/drone.yml
+++ b/src/tools/scratch2jderobot/cfg/drone.yml
@@ -1,6 +1,6 @@
 drone:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9000"
     Topic: "/cmd_vel_mux/input/teleop"
     Name: Motors
@@ -8,36 +8,36 @@ drone:
     maxW: 0.7
 
   Camera1:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Camera:default -h localhost -p 9000"
     Format: RGB8
     Topic: "/camera/rgb/image_raw"
     Name: Camera1
 
   Pose3D:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Pose3D:default -h localhost -p 9000"
     Topic: "/odom"
     Name: Pose3d
 
   Laser:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Laser:default -h localhost -p 9000"
     Topic: "/scan"
     Name: Laser
 
   CMDVel:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CMDVel:default -h localhost -p 9000"
     Name: CMDVel
 
   Navdata:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Navdata:default -h localhost -p 9000"
     Name: Navdata
 
   Extra:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Extra:default -h localhost -p 9000"
     Name: Extra
 
diff --git a/src/tools/scratch2jderobot/cfg/robot.yml b/src/tools/scratch2jderobot/cfg/robot.yml
index 9d13e29a9..28f8730e4 100644
--- a/src/tools/scratch2jderobot/cfg/robot.yml
+++ b/src/tools/scratch2jderobot/cfg/robot.yml
@@ -1,6 +1,6 @@
 robot:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/mobile_base/commands/velocity"
     Name: robotMotors
@@ -8,19 +8,19 @@ robot:
     maxV: 4
 
   Laser:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Laser:tcp -h localhost -p 9001"
     Topic: "/scan"
     Name: robotLaser
 
   Pose3D:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Pose3D:default -h localhost -p 9001"
     Topic: "/odom"
     Name: robotPose3d
 
   Camera1:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/cameraL/image_raw"
diff --git a/src/tools/uav_viewer_py/uav_viewer_py.yml b/src/tools/uav_viewer_py/uav_viewer_py.yml
index 43512936a..b39b9ac44 100644
--- a/src/tools/uav_viewer_py/uav_viewer_py.yml
+++ b/src/tools/uav_viewer_py/uav_viewer_py.yml
@@ -1,31 +1,31 @@
 UAVViewer:
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Camera:default -h localhost -p 9000"
     Format: RGB8
     Topic: "/IntrorobROS/image_raw"
     Name: UAVViewerCamera
 
   Pose3D:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Pose3D:default -h localhost -p 9000"
     Topic: "/IntrorobROS/Pose3D"
     Name: UAVViewerPose3d
 
   CMDVel:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CMDVel:tcp -h localhost -p 9000"
     Topic: "/IntrorobROS/CMDVel"
     Name: UAVViewerCMDVel
 
   Navdata:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Navdata:tcp -h localhost -p 9000"
     Topic: "/IntrorobROS/Navdata"
     Name: UAVViewerNavdata
 
   Extra:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Extra:tcp -h localhost -p 9000"
     Topic: "/IntrorobROS/Extra"
     Name: UAVViewerExtra
@@ -33,6 +33,6 @@ UAVViewer:
   Xmax: 10
   Ymax: 10
   Zmax: 5
-  Yawmax: 1 
+  Yawmax: 1
 
 NodeName: UAVViewer