diff --git a/launch/teleoperation.launch b/launch/teleoperation.launch
index d37902a..8a879de 100644
--- a/launch/teleoperation.launch
+++ b/launch/teleoperation.launch
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+
 <!--
 Launch file for Teleoperating NAO project
 
@@ -7,11 +9,17 @@ Launch file for Teleoperating NAO project
 <launch>
     
     <!-- roscore is automatically started if none exists-->
-    
+
+    <!-- condition for rviz to be started at launch-->
+    <?ignore
+    <arg name="gui" default="false" />
+    <param name="use_gui" value="$(arg gui)"/>
+    ?>    
+
     <!-- aruco detector node-->
     <node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/>
 
-    <!-- aruco effector node-->
+    <!-- aruco effector node, currently commented out-->
     <?ignore
     <node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/>
     ?>
@@ -19,4 +27,6 @@ Launch file for Teleoperating NAO project
     <!-- speech recognition and response node-->
     <node pkg="teleoperation" type="speech" name="speech_node"/>
 
+    <node name="rviz" pkg="rviz" type="rviz"  required="true"/>
+
 </launch>
diff --git a/scripts/speech_debug.sh b/scripts/speech_debug.sh
index bee05f2..440ea90 100755
--- a/scripts/speech_debug.sh
+++ b/scripts/speech_debug.sh
@@ -9,9 +9,9 @@ commands=(
 )
 
 # Build final command with all the tabs to launch
-set finalCommand=""
+finalCommand=""
 for (( i = 0; i < ${#commands[@]} ; i++ )); do
-    export finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
+    finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
 done
 
 # Run the final command
diff --git a/scripts/teleoperation.sh b/scripts/teleoperation.sh
index c5bf314..01f6268 100755
--- a/scripts/teleoperation.sh
+++ b/scripts/teleoperation.sh
@@ -6,19 +6,19 @@
 commands=(
 
     # Start roscore
-    #'cd ~/catkin_ws;source devel/setup.bash ;roscore'
+    'cd ~/catkin_ws;source devel/setup.bash ;roscore'
     # Bringup Nao
-    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
+    'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch '
     # Start speech recognition server
-    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
+    'sleep 3;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
     # Launch nodes in teleoperation package
-    'cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
+    'sleep 5;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
 )
 
 # Build final command with all the tabs to launch
-set finalCommand=""
+finalCommand=""
 for (( i = 0; i < ${#commands[@]} ; i++ )); do
-    export finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
+    finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
 done
 
 # Run the final command
diff --git a/src/speech.cpp b/src/speech.cpp
index ef19b5b..9e71c2f 100644
--- a/src/speech.cpp
+++ b/src/speech.cpp
@@ -194,7 +194,7 @@ int main(int argc, char** argv) {
     ros::init(argc, argv, "speech");
     
     Nao_control TermiNAOtor;
-    ros::Rate loop_rate(1);
+    ros::Rate loop_rate(0.5);
     loop_rate.sleep();
     TermiNAOtor.commandRecognition();
     ROS_INFO("SPIN");