diff --git a/src/libs/comm_cpp/CMakeLists.txt b/src/libs/comm_cpp/CMakeLists.txt
index 0dabe7c67..5719923e9 100644
--- a/src/libs/comm_cpp/CMakeLists.txt
+++ b/src/libs/comm_cpp/CMakeLists.txt
@@ -34,6 +34,7 @@ include_directories(
 
 set(HEADERS
     include/jderobot/comm/communicator.hpp
+    include/jderobot/comm/tools.hpp
     include/jderobot/comm/laserClient.hpp
     include/jderobot/comm/interfaces/laserClient.hpp
     include/jderobot/comm/ice/laserIceClient.hpp
@@ -65,6 +66,7 @@ set(HEADERS
 
 set(SOURCES
     src/communicator.cpp
+    src/tools.cpp
     src/laserClient.cpp
     src/ice/laserIceClient.cpp
     src/cameraClient.cpp
diff --git a/src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp
index 46a7a786e..eddd3078b 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp
@@ -22,8 +22,13 @@
 
 
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/ardroneextraClient.hpp>
+#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp
index c9c3227a9..11755e770 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/bumperData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/bumperClient.hpp>
+#include <jderobot/comm/ice/bumperIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerBumper.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp
index e87eea284..961ec0d9f 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/image.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cameraClient.hpp>
+#include <jderobot/comm/ice/cameraIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerCamera.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp
index fd9d078dc..fb659ed05 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cmdvelClient.hpp>
+#include <jderobot/comm/ice/cmdvelIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherCMDVel.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/communicator.hpp b/src/libs/comm_cpp/include/jderobot/comm/communicator.hpp
index cd1b1a696..666301a92 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/communicator.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/communicator.hpp
@@ -23,6 +23,7 @@
 #include <Ice/Communicator.h>
 #include <Ice/Initialize.h>
 #include <jderobot/config/properties.hpp>
+#include <jderobot/comm/tools.hpp>
 
 
 namespace Comm {
diff --git a/src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp
index c1d8c435d..ab2d0db66 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/laserClient.hpp>
+#include <jderobot/comm/ice/laserIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerLaser.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp
index 40ccb5f0c..cfb5ed465 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp
@@ -22,8 +22,14 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/motorsClient.hpp>
+#include <jderobot/comm/ice/motorsIceClient.hpp>
+#include <jderobot/comm/tools.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/publisherMotors.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp
index ad9771f36..2d5fabcd4 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/navdataData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/navdataClient.hpp>
+#include <jderobot/comm/ice/navdataIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerNavdata.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp
index 2569d4cbb..b10bb8555 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/pose3dClient.hpp>
+#include <jderobot/comm/ice/pose3dIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerPose.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp b/src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp
index a868b77b6..0bbfda494 100644
--- a/src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp
+++ b/src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp
@@ -22,8 +22,13 @@
 
 #include <jderobot/types/rgbd.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/rgbdClient.hpp>
+#include <jderobot/comm/ice/rgbdIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerRgbd.hpp>
+#endif
 
 
 
diff --git a/src/libs/comm_cpp/include/jderobot/comm/tools.hpp b/src/libs/comm_cpp/include/jderobot/comm/tools.hpp
new file mode 100644
index 000000000..528e0b31c
--- /dev/null
+++ b/src/libs/comm_cpp/include/jderobot/comm/tools.hpp
@@ -0,0 +1,33 @@
+/*
+ *  Copyright (C) 1997-2018 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_TOOLS_H
+#define JDEROBOTCOMM_TOOLS_H
+
+#include <jderobot/config/properties.hpp>
+
+
+namespace Comm {
+
+	int server2int (std::string server);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_TOOLS_H
\ No newline at end of file
diff --git a/src/libs/comm_cpp/src/ardroneextraClient.cpp b/src/libs/comm_cpp/src/ardroneextraClient.cpp
index 0bdfddc92..a63248896 100644
--- a/src/libs/comm_cpp/src/ardroneextraClient.cpp
+++ b/src/libs/comm_cpp/src/ardroneextraClient.cpp
@@ -1,8 +1,5 @@
 #include <jderobot/comm/ardroneextraClient.hpp>
-#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/bumperClient.cpp b/src/libs/comm_cpp/src/bumperClient.cpp
index f6baee909..b9699d754 100644
--- a/src/libs/comm_cpp/src/bumperClient.cpp
+++ b/src/libs/comm_cpp/src/bumperClient.cpp
@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/bumperClient.hpp>
-#include <jderobot/comm/ice/bumperIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerBumper.hpp>
-#endif
+#include <jderobot/comm/bumperClient.hpp>
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getBumperClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/cameraClient.cpp b/src/libs/comm_cpp/src/cameraClient.cpp
index 3466cbd26..15013f324 100644
--- a/src/libs/comm_cpp/src/cameraClient.cpp
+++ b/src/libs/comm_cpp/src/cameraClient.cpp
@@ -17,10 +17,7 @@
  *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
  */
 #include <jderobot/comm/cameraClient.hpp>
-#include <jderobot/comm/ice/cameraIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerCamera.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -30,14 +27,7 @@ getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/cmdvelClient.cpp b/src/libs/comm_cpp/src/cmdvelClient.cpp
index 19a916ecc..c093ab990 100644
--- a/src/libs/comm_cpp/src/cmdvelClient.cpp
+++ b/src/libs/comm_cpp/src/cmdvelClient.cpp
@@ -1,8 +1,5 @@
 #include <jderobot/comm/cmdvelClient.hpp>
-#include <jderobot/comm/ice/cmdvelIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherCMDVel.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getCMDVelClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/laserClient.cpp b/src/libs/comm_cpp/src/laserClient.cpp
index 7ea71475c..93d6eee9d 100644
--- a/src/libs/comm_cpp/src/laserClient.cpp
+++ b/src/libs/comm_cpp/src/laserClient.cpp
@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/laserClient.hpp>
-#include <jderobot/comm/ice/laserIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerLaser.hpp>
-#endif
+#include <jderobot/comm/laserClient.hpp>
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getLaserClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/motorsClient.cpp b/src/libs/comm_cpp/src/motorsClient.cpp
index 6081ef874..6c97400cd 100644
--- a/src/libs/comm_cpp/src/motorsClient.cpp
+++ b/src/libs/comm_cpp/src/motorsClient.cpp
@@ -1,8 +1,4 @@
 #include <jderobot/comm/motorsClient.hpp>
-#include <jderobot/comm/ice/motorsIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/publisherMotors.hpp>
-#endif
 
 namespace Comm {
 
@@ -12,14 +8,7 @@ getMotorsClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/navdataClient.cpp b/src/libs/comm_cpp/src/navdataClient.cpp
index 7ee90d81e..bcdd802f6 100644
--- a/src/libs/comm_cpp/src/navdataClient.cpp
+++ b/src/libs/comm_cpp/src/navdataClient.cpp
@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/navdataClient.hpp>
-#include <jderobot/comm/ice/navdataIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/listenerNavdata.hpp>
-#endif
+#include <jderobot/comm/navdataClient.hpp>
+
 
 namespace Comm {
 
@@ -13,13 +10,7 @@ getNavdataClient(Comm::Communicator* jdrc, std::string prefix){
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/pose3dClient.cpp b/src/libs/comm_cpp/src/pose3dClient.cpp
index 0e9bd93bb..d1f74e721 100644
--- a/src/libs/comm_cpp/src/pose3dClient.cpp
+++ b/src/libs/comm_cpp/src/pose3dClient.cpp
@@ -1,8 +1,5 @@
 #include <jderobot/comm/pose3dClient.hpp>
-#include <jderobot/comm/ice/pose3dIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerPose.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -13,13 +10,7 @@ getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/rgbdClient.cpp b/src/libs/comm_cpp/src/rgbdClient.cpp
index 6db445d31..7ad2d1b8e 100644
--- a/src/libs/comm_cpp/src/rgbdClient.cpp
+++ b/src/libs/comm_cpp/src/rgbdClient.cpp
@@ -17,10 +17,7 @@
  *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
  */
 #include <jderobot/comm/rgbdClient.hpp>
-#include <jderobot/comm/ice/rgbdIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/listenerRgbd.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -30,14 +27,7 @@ getRgbdClient(Comm::Communicator* jdrc, std::string prefix){
 
 	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;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:
diff --git a/src/libs/comm_cpp/src/tools.cpp b/src/libs/comm_cpp/src/tools.cpp
new file mode 100644
index 000000000..ed8c959bf
--- /dev/null
+++ b/src/libs/comm_cpp/src/tools.cpp
@@ -0,0 +1,33 @@
+/*
+ *  Copyright (C) 1997-2017 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+#include <jderobot/comm/tools.hpp>
+
+namespace Comm {
+	int server2int(std::string server){
+		std::transform(server.begin(), server.end(), server.begin(), ::tolower);
+		if(server == "ice" || server == "1"){
+			return 1;
+		}
+		else if(server == "ros"|| server == "2"){
+			return 2;
+		}
+		else return 0;
+	}
+
+}//NS
\ No newline at end of file
diff --git a/src/libs/comm_py/comm/__init__.py b/src/libs/comm_py/comm/__init__.py
index f14587b65..efcac4bb5 100644
--- a/src/libs/comm_py/comm/__init__.py
+++ b/src/libs/comm_py/comm/__init__.py
@@ -1,22 +1,24 @@
 from .communicator import Communicator
 
+from .tools import server2int
+
 
 
 
 def init (config, prefix):
-	'''
+    '''
     Starts JdeRobotComm
 
     @param config: configuration of client
 
     @type config: dict
     '''
-	return Communicator(config, prefix)
+    return Communicator(config, prefix)
 
 
 
 
-	
+    
 
 
 
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 71b1073ee..7610816db 100644
--- a/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.ardroneextraIceClient import ArDroneExtraIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
diff --git a/src/libs/comm_py/comm/ardroneextraClient.py.ros.in b/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
index 63b562d8d..6af92b4a4 100644
--- a/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
+++ b/src/libs/comm_py/comm/ardroneextraClient.py.ros.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.ardroneextraIceClient import ArDroneExtraIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
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 dfad02341..37059711f 100644
--- a/src/libs/comm_py/comm/bumperClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/bumperClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.bumperIceClient import BumperIceClient
+from .tools import server2int
 
 
 def __getBumperIceClient(jdrc, prefix):
@@ -67,11 +68,7 @@ def getBumperClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Bumperdisabled, __getBumperIceClient, __getListenerBumper]
 
diff --git a/src/libs/comm_py/comm/bumperClient.py.ros.in b/src/libs/comm_py/comm/bumperClient.py.ros.in
index 3025b9401..731bb5698 100644
--- a/src/libs/comm_py/comm/bumperClient.py.ros.in
+++ b/src/libs/comm_py/comm/bumperClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.bumperIceClient import BumperIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.listenerBumper import ListenerBumper
@@ -76,11 +77,7 @@ def getBumperClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Bumperdisabled, __getBumperIceClient, __getListenerBumper]
 
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 b245b3e2b..e1aed373d 100644
--- a/src/libs/comm_py/comm/cameraClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/cameraClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.cameraIceClient import CameraIceClient
+from .tools import server2int
 
 def __getCameraIceClient(jdrc, prefix):
     '''
@@ -67,12 +68,8 @@ def getCameraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Cameradisabled, __getCameraIceClient, __getListenerCamera]
 
-    return cons[server](jdrc, name)
+    return cons[server](jdrc, prefix)
diff --git a/src/libs/comm_py/comm/cameraClient.py.ros.in b/src/libs/comm_py/comm/cameraClient.py.ros.in
index e64c18e92..5c423d91c 100644
--- a/src/libs/comm_py/comm/cameraClient.py.ros.in
+++ b/src/libs/comm_py/comm/cameraClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.cameraIceClient import CameraIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.listenerCamera import ListenerCamera
@@ -76,11 +77,7 @@ def getCameraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Cameradisabled, __getCameraIceClient, __getListenerCamera]
 
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 2c6317100..a31a67247 100644
--- a/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/cmdvelClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.cmdvelIceClient import CMDVelIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getCMDVelClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__CMDVeldisabled, __getCMDVelIceClient, __getPublisherCMDVel]
 
diff --git a/src/libs/comm_py/comm/cmdvelClient.py.ros.in b/src/libs/comm_py/comm/cmdvelClient.py.ros.in
index 6a9af146a..83672407f 100644
--- a/src/libs/comm_py/comm/cmdvelClient.py.ros.in
+++ b/src/libs/comm_py/comm/cmdvelClient.py.ros.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.cmdvelIceClient import CMDVelIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getCMDVelClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__CMDVeldisabled, __getCMDVelIceClient, __getPublisherCMDVel]
 
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 54ab093fb..e0e994167 100644
--- a/src/libs/comm_py/comm/communicator.py.only-ice.in
+++ b/src/libs/comm_py/comm/communicator.py.only-ice.in
@@ -11,6 +11,7 @@ from .navdataClient import getNavdataClient
 from .cmdvelClient import getCMDVelClient
 from .bumperClient import getBumperClient
 from .sonarClient import getSonarClient
+from .tools import server2int
 
 
 
@@ -37,7 +38,7 @@ class Communicator:
 
 		ymlNode = self.config.getProperty(prefix)
 		for i in ymlNode:
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ice":
+			if type(ymlNode[i]) is dict and server2int(ymlNode[i]["Server"]) == 1 :
 				iceserver = True
 
 		if iceserver:
diff --git a/src/libs/comm_py/comm/communicator.py.ros.in b/src/libs/comm_py/comm/communicator.py.ros.in
index 41bec377e..cde4dac25 100644
--- a/src/libs/comm_py/comm/communicator.py.ros.in
+++ b/src/libs/comm_py/comm/communicator.py.ros.in
@@ -12,6 +12,7 @@ from .cmdvelClient import getCMDVelClient
 from .ptMotorsClient import getPTMotorsClient
 from .bumperClient import getBumperClient
 from .sonarClient import getSonarClient
+from .tools import server2int
 
 
 
@@ -38,9 +39,9 @@ class Communicator:
 
 		ymlNode = self.config.getProperty(prefix)
 		for i in ymlNode:
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ice":
+			if type(ymlNode[i]) is dict and server2int(ymlNode[i]["Server"]) == 1:
 				iceserver = True
-			if type(ymlNode[i]) is dict and ymlNode[i]["Server"].lower() == "ros":
+			if type(ymlNode[i]) is dict and server2int(ymlNode[i]["Server"]) == 2:
 				rosserver = True
 
 		if rosserver:
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 b0dd3fb77..1f88c4689 100644
--- a/src/libs/comm_py/comm/laserClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/laserClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.laserIceClient import LaserIceClient
+from .tools import server2int
 
 
 def __getLaserIceClient(jdrc, prefix):
@@ -67,11 +68,7 @@ def getLaserClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
diff --git a/src/libs/comm_py/comm/laserClient.py.ros.in b/src/libs/comm_py/comm/laserClient.py.ros.in
index fcc73bd66..f7fe427bf 100644
--- a/src/libs/comm_py/comm/laserClient.py.ros.in
+++ b/src/libs/comm_py/comm/laserClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.laserIceClient import LaserIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.listenerLaser import ListenerLaser
@@ -76,11 +77,7 @@ def getLaserClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
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 e6a33857a..514d802af 100644
--- a/src/libs/comm_py/comm/motorsClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/motorsClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.motorsIceClient import MotorsIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getMotorsClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Motorsdisabled, __getMotorsIceClient, __getPublisherMotors]
 
diff --git a/src/libs/comm_py/comm/motorsClient.py.ros.in b/src/libs/comm_py/comm/motorsClient.py.ros.in
index 7765a4829..0eb4b7d04 100644
--- a/src/libs/comm_py/comm/motorsClient.py.ros.in
+++ b/src/libs/comm_py/comm/motorsClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.motorsIceClient import MotorsIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.publisherMotors import PublisherMotors
@@ -91,11 +92,7 @@ def getMotorsClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Motorsdisabled, __getMotorsIceClient, __getPublisherMotors]
 
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 a5d59d803..73d3469d7 100644
--- a/src/libs/comm_py/comm/navdataClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/navdataClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.navdataIceClient import NavdataIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getNavdataClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+   server = server2int(server)
 
     cons = [__Navdatadisabled, __getNavdataIceClient, __getPublisherNavdata]
 
diff --git a/src/libs/comm_py/comm/navdataClient.py.ros.in b/src/libs/comm_py/comm/navdataClient.py.ros.in
index 1ecd6601c..c462e4d07 100644
--- a/src/libs/comm_py/comm/navdataClient.py.ros.in
+++ b/src/libs/comm_py/comm/navdataClient.py.ros.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.navdataIceClient import NavdataIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getNavdataClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Navdatadisabled, __getNavdataIceClient, __getPublisherNavdata]
 
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 39627f385..7507ae784 100644
--- a/src/libs/comm_py/comm/pose3dClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/pose3dClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.pose3dIceClient import Pose3dIceClient
+from .tools import server2int
 
 
 def __getPoseIceClient(jdrc, prefix):
@@ -68,11 +69,7 @@ def getPose3dClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Posedisabled, __getPoseIceClient, __getListenerPose]
 
diff --git a/src/libs/comm_py/comm/pose3dClient.py.ros.in b/src/libs/comm_py/comm/pose3dClient.py.ros.in
index 71586b449..1b37452a0 100644
--- a/src/libs/comm_py/comm/pose3dClient.py.ros.in
+++ b/src/libs/comm_py/comm/pose3dClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.pose3dIceClient import Pose3dIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.listenerPose3d import ListenerPose3d
@@ -79,11 +80,7 @@ def getPose3dClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Posedisabled, __getPoseIceClient, __getListenerPose]
 
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 f59a419b4..ae73107de 100644
--- a/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/ptMotorsClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.ptMotorsIceClient import PTMotorsIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getPTMotorsClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__PTMotorsdisabled, __getPTMotorsIceClient, __getPublisherPTMotors]
 
diff --git a/src/libs/comm_py/comm/ptMotorsClient.py.ros.in b/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
index aa05b3fb4..e95e47fb7 100644
--- a/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
+++ b/src/libs/comm_py/comm/ptMotorsClient.py.ros.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.ptMotorsIceClient import PTMotorsIceClient
+from .tools import server2int
 
 
 
@@ -71,11 +72,7 @@ def getPTMotorsClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__PTMotorsdisabled, __getPTMotorsIceClient, __getPublisherPTMotors]
 
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 ffaa70d50..8607787b3 100644
--- a/src/libs/comm_py/comm/rgbdClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/rgbdClient.py.only-ice.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.rgbdIceClient import RgbdIceClient
+from .tools import server2int
 
 #if (sys.version_info[0] == 2):
 #    from .ros.listenerRgbd import ListenerRgbd
@@ -70,11 +71,7 @@ def getRgbdClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     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 0ad12e22f..716a8d355 100644
--- a/src/libs/comm_py/comm/rgbdClient.py.ros.in
+++ b/src/libs/comm_py/comm/rgbdClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.rgbdIceClient import RgbdIceClient
+from .tools import server2int
 
 if (sys.version_info[0] == 2):
     from .ros.listenerRgbd import ListenerRgbd
@@ -79,11 +80,7 @@ def getRgbdClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     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 ba7172253..55e284212 100644
--- a/src/libs/comm_py/comm/sonarClient.py.only-ice.in
+++ b/src/libs/comm_py/comm/sonarClient.py.only-ice.in
@@ -1,6 +1,7 @@
 import sys
 import Ice
 from .ice.sonarIceClient import SonarIceClient
+from .tools import server2int
 
 
 def __getSonarIceClient(jdrc, prefix):
@@ -67,11 +68,7 @@ def getSonarClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Laserdisabled, __getLaserIceClient, __getListenerLaser]
 
diff --git a/src/libs/comm_py/comm/sonarClient.py.ros.in b/src/libs/comm_py/comm/sonarClient.py.ros.in
index f5f2226f2..147265482 100644
--- a/src/libs/comm_py/comm/sonarClient.py.ros.in
+++ b/src/libs/comm_py/comm/sonarClient.py.ros.in
@@ -2,6 +2,7 @@ import sys
 import Ice
 import rospy
 from .ice.sonarIceClient import SonarIceClient
+from .tools import server2int
 
 
 def __getSonarIceClient(jdrc, prefix):
@@ -68,11 +69,7 @@ def getSonarClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if server.lower() == "ice":
-        server=1
-    elif server.lower() == "ros":
-        server=2
-    else : server = 0
+    server = server2int(server)
 
     cons = [__Sonardisabled, __getSonarIceClient, __getListenerSonar]
 
diff --git a/src/libs/comm_py/comm/tools.py b/src/libs/comm_py/comm/tools.py
new file mode 100644
index 000000000..f07a44357
--- /dev/null
+++ b/src/libs/comm_py/comm/tools.py
@@ -0,0 +1,9 @@
+
+
+def server2int(server):
+    serverl = server.lower()
+    if serverl == "ice" or serverl == "1":
+        return 1
+    elif serverl == "ros" or serverl == "2":
+        return 2
+    else : return 0
\ No newline at end of file
diff --git a/src/tools/rgbdViewer/rgbdViewer.cpp b/src/tools/rgbdViewer/rgbdViewer.cpp
index a181895d9..5bcc73a1e 100644
--- a/src/tools/rgbdViewer/rgbdViewer.cpp
+++ b/src/tools/rgbdViewer/rgbdViewer.cpp
@@ -35,6 +35,7 @@
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/cameraClient.hpp>
 #include <jderobot/comm/rgbdClient.hpp>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/types/image.h>
 #include <jderobot/types/rgbd.h>
 #include <logger/Logger.h>
@@ -166,9 +167,11 @@ int main(int argc, char** argv){
 		std::cerr <<"Error :" << msg << std::endl;
 		return 1;
 	}
-	cameraRGBActive=(bool)cfg.asIntWithDefault("rgbdViewer.CameraRGB.Server",0);
-	cameraDepthActive=(bool)cfg.asIntWithDefault("rgbdViewer.CameraDEPTH.Server",0);
-	cameraRGBDActive=(bool)cfg.asIntWithDefault("rgbdViewer.RGBD.Server",0);
+
+
+	cameraRGBActive=(bool)Comm::server2int(cfg.asStringWithDefault("rgbdViewer.CameraRGB.Server","0"));
+	cameraDepthActive=(bool)Comm::server2int(cfg.asStringWithDefault("rgbdViewer.CameraDEPTH.Server","0"));
+	cameraRGBDActive=(bool)Comm::server2int(cfg.asStringWithDefault("rgbdViewer.RGBD.Server","0"));
 
 	if (cameraRGBDActive && (cameraRGBActive ||  cameraDepthActive)){
 		LOG(ERROR) << "RGBD and single cameras cannot be selected at the same time";