diff --git a/bt_editor/sidepanel_monitor.cpp b/bt_editor/sidepanel_monitor.cpp
index 28372a77..c24e5bb2 100644
--- a/bt_editor/sidepanel_monitor.cpp
+++ b/bt_editor/sidepanel_monitor.cpp
@@ -45,62 +45,62 @@ void SidepanelMonitor::on_timer()
             ui->labelCount->setText( QString("Messages received: %1").arg(_msg_count) );
 
             const char* buffer = reinterpret_cast<const char*>(msg.data());
-
+	    
             const uint32_t header_size = flatbuffers::ReadScalar<uint32_t>( buffer );
             const uint32_t num_transitions = flatbuffers::ReadScalar<uint32_t>( &buffer[4+header_size] );
 
-	    // check uid in the index, if failed load tree from server
-	    try {
-		for(size_t offset = 4; offset < header_size +4; offset +=3 )
-		{
-		    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
-		    _uid_to_index.at(uid);
-		}
-	    
-		for(size_t t=0; t < num_transitions; t++)
-		{
-		    size_t offset = 8 + header_size + 12*t;
-		    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
-		    _uid_to_index.at(uid);
-		}
-	    }
-	    catch( std::out_of_range& err) {
-		qDebug() << "Reload tree from server";
-		if( !getTreeFromServer() ) {
-		    _connected = false;
-		    ui->lineEdit->setDisabled(false);
-		    _timer->stop();
-		    connectionUpdate(false);
-		    return;
-		}
-	    }
-
-            for(size_t offset = 4; offset < header_size +4; offset +=3 )
-            {
-                const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
-                const uint16_t index = _uid_to_index.at(uid);
-                AbstractTreeNode* node = _loaded_tree.node( index );
-                node->status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+2] ));
-            }
-
             std::vector<std::pair<int, NodeStatus>> node_status;
 
-            //qDebug() << "--------";
-            for(size_t t=0; t < num_transitions; t++)
-            {
-                size_t offset = 8 + header_size + 12*t;
+	    // check uid in the index, if failed load tree from server
+            try {
+                for(size_t offset = 4; offset < header_size +4; offset +=3 )
+                {
+                    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
+                    _uid_to_index.at(uid);
+                }
+                
+                for(size_t t=0; t < num_transitions; t++)
+                {
+                    size_t offset = 8 + header_size + 12*t;
+                    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
+                    _uid_to_index.at(uid);
+                }
+                for(size_t offset = 4; offset < header_size +4; offset +=3 )
+                {
+                    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
+                    const uint16_t index = _uid_to_index.at(uid);
+                    AbstractTreeNode* node = _loaded_tree.node( index );
+                    node->status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+2] ));
+                }
+                
 
-                // const double t_sec  = flatbuffers::ReadScalar<uint32_t>( &buffer[offset] );
-                // const double t_usec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset+4] );
-                // double timestamp = t_sec + t_usec* 0.000001;
-                const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
-                const uint16_t index = _uid_to_index.at(uid);
-                // NodeStatus prev_status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[index+10] ));
-                NodeStatus status  = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+11] ));
+                //qDebug() << "--------";
+                for(size_t t=0; t < num_transitions; t++)
+                {
+                    size_t offset = 8 + header_size + 12*t;
+
+                    // const double t_sec  = flatbuffers::ReadScalar<uint32_t>( &buffer[offset] );
+                    // const double t_usec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset+4] );
+                    // double timestamp = t_sec + t_usec* 0.000001;
+                    const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
+                    const uint16_t index = _uid_to_index.at(uid);
+                    // NodeStatus prev_status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[index+10] ));
+                    NodeStatus status  = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+11] ));
 
-                _loaded_tree.node(index)->status = status;
-                node_status.push_back( {index, status} );
+                    _loaded_tree.node(index)->status = status;
+                    node_status.push_back( {index, status} );
 
+                }
+            }
+            catch( std::out_of_range& err) {
+                qDebug() << "Reload tree from server";
+                if( !getTreeFromServer() ) {
+                    _connected = false;
+                    ui->lineEdit->setDisabled(false);
+                    _timer->stop();
+                    connectionUpdate(false);
+                    return;
+                }
             }
             // update the graphic part
             emit changeNodeStyle( "BehaviorTree", node_status );
@@ -189,27 +189,11 @@ void SidepanelMonitor::on_Connect()
             address = ui->lineEdit->placeholderText();
             ui->lineEdit->setText(address);
         }
-
-        QString publisher_port = ui->lineEdit_publisher->text();
-        if( publisher_port.isEmpty() )
-        {
-            publisher_port = ui->lineEdit_publisher->placeholderText();
-            ui->lineEdit_publisher->setText(publisher_port);
-        }
-
-        QString server_port = ui->lineEdit_server->text();
-        if( server_port.isEmpty() )
-        {
-          publisher_port = ui->lineEdit_server->placeholderText();
-          ui->lineEdit_server->setText(publisher_port);
-        }
-
         bool failed = false;
         if( !address.isEmpty() )
         {
-            _connection_address_pub = "tcp://" + address.toStdString() + ":" + publisher_port.toStdString();
-            _connection_address_req = "tcp://" + address.toStdString() + ":" + server_port.toStdString();
-
+            _connection_address_pub = "tcp://" + address.toStdString() + std::string(":1666");
+            _connection_address_req = "tcp://" + address.toStdString() + std::string(":1667");
             try{
                 _zmq_subscriber.connect( _connection_address_pub.c_str() );
 
@@ -236,7 +220,6 @@ void SidepanelMonitor::on_Connect()
         {
             _connected = true;
             ui->lineEdit->setDisabled(true);
-            ui->lineEdit_publisher->setDisabled(true);
             _timer->start(20);
             connectionUpdate(true);
         }
@@ -250,7 +233,6 @@ void SidepanelMonitor::on_Connect()
     else{
         _connected = false;
         ui->lineEdit->setDisabled(false);
-        ui->lineEdit_publisher->setDisabled(false);
         _timer->stop();
 
         connectionUpdate(false);