diff --git a/README.md b/README.md
index 6f49b272bcc4c2ba63307cd77c73b4af7fd47d4d..0ab72786ca4947ef41cfde56c447de856a94ec8a 100644
--- a/README.md
+++ b/README.md
@@ -146,7 +146,24 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
 
 ### Planning Manager
 
-
+When all the ROS required modules are running, we will be able run all the Behavior actions on the robot by running the Planning Manager node. This node will launch all the following node:
+* behavior_go_to_position_2D_nav_goal
+* behavior_social_cost_map_main
+* global_path_planner_action_server
+* goal_finder_action_server
+* mpc_local_path_planner_action_server
+* occupancy_map_republisher
+* planning_manager
+* pointcloud2occmap
+* rl_local_path_planner_action_server
+* /behavior_generator/behavior_go_to_body_action_server_main: action server used to go to a specific body
+* /behavior_generator/behavior_go_to_group_action_server_main: action server used to go to a specific group
+* /behavior_generator/behavior_go_to_person_action_server_main: action server used to go to a specific person
+* /behavior_generator/behavior_go_to_position_action_server_main: action server used to go to a specific position
+* /behavior_generator/behavior_look_at_body_action_server_main: action server used to look at a specific body
+* /behavior_generator/behavior_look_at_group_action_server_main: action server used to look at a specific group
+* /behavior_generator/behavior_look_at_person_action_server_main: action server used to look at a specific person
+* /behavior_generator/behavior_look_at_position_action_server_main: action server used to look at a specific position
 
 
 Now that all the ROS modules required for the navigation are running, you will be able to launch all the Robot behavior actions.
@@ -245,9 +262,9 @@ Four types of `look_at` actions are possible:
     You can launch the `look_at_person` action server in two ways:
     * Using a roslaunch:
         ```sh
-        roslaunch robot_behavior behavior_look_at_person_action_client.launch person_id:=anonymous_person_hgfd continuous:=False timeout:=200
+        roslaunch robot_behavior behavior_look_at_person_action_client.launch person_id:=anonymous_person_gcfbh continuous:=False timeout:=200
         ```
-        with `anonymous_person_hgfd` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. The `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. The `timeout` parameter will kill the action server when the timeout time will be reached.
+        with `anonymous_person_gcfbh` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. The `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. The `timeout` parameter will kill the action server when the timeout time will be reached.
 
     * Publishing directly in a topic:
         ```sh
@@ -263,7 +280,7 @@ Four types of `look_at` actions are possible:
             nsecs: 0
         id: ''
         goal:
-        id: 'anonymous_person_hgfd'
+        id: 'anonymous_person_gcfbh'
         timeout: 200.0
         continuous: false"
         ```
@@ -363,9 +380,9 @@ Four types of `go_to` actions are possible:
     You can launch the `go_to_person` action server in two ways:
     * Using a roslaunch:
         ```sh
-        roslaunch robot_behavior behavior_go_to_person_action_client.launch person_id:=anonymous_person_hgfd continuous:=False timeout:=200
+        roslaunch robot_behavior behavior_go_to_person_action_client.launch person_id:=anonymous_person_gcfbh continuous:=False timeout:=200
         ```
-        with `anonymous_person_hgfd` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. The `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. The `timeout` parameter will kill the action server when the timeout time will be reached.
+        with `anonymous_person_gcfbh` the person id, one of the person id you can see on `rviz` or that are published in the `/humans/persons/tracked` topic. The `continuous` flag is used to keep the action server alive even if the robot has already reach the goal. The `timeout` parameter will kill the action server when the timeout time will be reached.
 
     * Publishing directly in a topic:
         ```sh
@@ -381,7 +398,7 @@ Four types of `go_to` actions are possible:
             nsecs: 0
         id: ''
         goal:
-        id: 'anonymous_person_hgfd'
+        id: 'anonymous_person_gcfbh'
         timeout: 200.0
         continuous: false"
         ```