diff --git a/rasms_manipulator/launch/rasms_manipulation.launch.py b/rasms_manipulator/launch/rasms_manipulation.launch.py
index 74a0e9e..7920535 100644
--- a/rasms_manipulator/launch/rasms_manipulation.launch.py
+++ b/rasms_manipulator/launch/rasms_manipulation.launch.py
@@ -103,6 +103,6 @@ def generate_launch_description():
     # Declare the launch options
     ld.add_action(plansys2_cmd)
     ld.add_action(move_1)
-    # ld.add_action(transport_1_cmd)
+    ld.add_action(transport_1_cmd)
   
     return ld
\ No newline at end of file
diff --git a/rasms_manipulator/src/rasms_controller_node.cpp b/rasms_manipulator/src/rasms_controller_node.cpp
index ea9d5f4..694b44b 100644
--- a/rasms_manipulator/src/rasms_controller_node.cpp
+++ b/rasms_manipulator/src/rasms_controller_node.cpp
@@ -43,23 +43,6 @@ public:
         executor_client_ = std::make_shared<plansys2::ExecutorClient>();
 
         init_knowledge();
-
-        auto domain = domain_expert_->getDomain();
-        auto problem = problem_expert_->getProblem();
-        auto plan = planner_client_->getPlan(domain, problem);
-
-        if (plan.has_value())
-        {
-            if (!executor_client_->start_plan_execution(plan.value()))
-            {
-                RCLCPP_ERROR(get_logger(), "Error starting a new plan (first)");
-            }
-        }
-        else
-        {
-            RCLCPP_ERROR_STREAM(
-                this->get_logger(), "Could not find plan to reach goal " << parser::pddl::toString(problem_expert_->getGoal()));
-        }
     }
 
     void init_knowledge()
@@ -68,7 +51,6 @@ public:
         problem_expert_->addInstance(plansys2::Instance{"one", "zone"});
         problem_expert_->addInstance(plansys2::Instance{"two", "zone"});
         problem_expert_->addPredicate(plansys2::Predicate("(robot_at rasms one)"));
-        problem_expert_->setGoal(plansys2::Goal("(and(robot_at rasms one two))"));
     }
 
     std::string status_to_string(int8_t status)
@@ -98,9 +80,35 @@ public:
 
     void step()
     {
-        if (!executor_client_->execute_and_check_plan())
+        problem_expert_->setGoal(plansys2::Goal("(and(robot_at rasms two))"));
+
+        auto domain = domain_expert_->getDomain();
+        auto problem = problem_expert_->getProblem();
+        auto plan = planner_client_->getPlan(domain, problem);
+
+        if (!plan.has_value()) {
+            std::cout << "Could not find plan to reach goal " <<
+            parser::pddl::toString(problem_expert_->getGoal()) << std::endl;
+        }
+
+        executor_client_->start_plan_execution(plan.value());
+
+        auto feedback = executor_client_->getFeedBack();
+ 
+        for (const auto & action_feedback : feedback.action_execution_status) 
         {
-            RCLCPP_INFO(get_logger(), "Done!");
+            std::cout << "[" << action_feedback.action << " " <<
+            action_feedback.completion * 100.0 << "%]";
+        }
+        
+        std::cout << std::endl;
+        
+        if (!executor_client_->execute_and_check_plan() && executor_client_->getResult()) 
+        {
+            if (executor_client_->getResult().value().success) 
+            {
+                std::cout << "Successful finished " << std::endl;
+            }
         }
     }
 
@@ -111,22 +119,21 @@ private:
     std::shared_ptr<plansys2::PlannerClient> planner_client_;
 };
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
     rclcpp::init(argc, argv);
     auto node = std::make_shared<RasmsController>();
-
+ 
     node->init();
+ 
+    rclcpp::Rate rate(5);
+    node->step();
 
-    rclcpp::Rate rate(1);
-    while (rclcpp::ok())
-    {
-        rate.sleep();
-        rclcpp::spin_some(node->get_node_base_interface());
-        node->step();
-    }
-
+    rate.sleep();
+    rclcpp::spin_some(node->get_node_base_interface());
+    
+    rate.sleep();
     rclcpp::shutdown();
-
+    
     return 0;
 }
\ No newline at end of file