diff --git a/screen/screen_depot b/screen/screen_depot
index 2364eb7a71fa35434ab04d0bf30bc9b8efc13db8..0c63fab8d49e7fdad75fb11d8f23ab90335de449 100644
--- a/screen/screen_depot
+++ b/screen/screen_depot
@@ -25,7 +25,7 @@ stuff "rosrun lrs_depot depot.py __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 10
 title "communication launch"
diff --git a/screen/screen_dji b/screen/screen_dji
index 0de66bd8a45325b3f244b542b8a814f108265c99..ca71eb38668c4b70c9bc7ef9f87cb56bc98393e7 100644
--- a/screen/screen_dji
+++ b/screen/screen_dji
@@ -39,7 +39,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.sh __ns:=${NS} _gimbal_mode:=follo
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_dji_sim b/screen/screen_dji_sim
index 0fbd2dfc558e9acf1c5fb6d9d4ead71c847af1a0..b82f991c0bb0ac4b007723ad4a8a5b494b10410f 100644
--- a/screen/screen_dji_sim
+++ b/screen/screen_dji_sim
@@ -41,7 +41,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.sh __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_dji_sim_morse b/screen/screen_dji_sim_morse
index 89d60b2df452ca14feae75a0b16634780290d410..85fa74c46cf0741eca153f37fcd831c0d2d8518a 100644
--- a/screen/screen_dji_sim_morse
+++ b/screen/screen_dji_sim_morse
@@ -40,7 +40,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.py __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_dji_sim_ros2 b/screen/screen_dji_sim_ros2
index 853525eca5a4b65055f86c02d1fc9caf802568be..2f246571541eb465e3311a120db8632d396066ef 100644
--- a/screen/screen_dji_sim_ros2
+++ b/screen/screen_dji_sim_ros2
@@ -37,7 +37,7 @@ stuff "rosrun lrs_dji gimbalcontrol.py __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Takeoff position info server"
diff --git a/screen/screen_dji_sim_scql b/screen/screen_dji_sim_scql
index e60dee29ef6bde78e623f606209dabe1d33d6d12..98db3f98bafae38a8bf440c071d78870daec4403 100644
--- a/screen/screen_dji_sim_scql
+++ b/screen/screen_dji_sim_scql
@@ -35,7 +35,7 @@ stuff "roslaunch lrs_launch rviz_outside.launch"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_dji_sim_zmq b/screen/screen_dji_sim_zmq
index 4dc6537c0cf2483003a18ca9f1885ac82aae1eac..5577b36493492ac87e5972223b8c239e18b7875e 100644
--- a/screen/screen_dji_sim_zmq
+++ b/screen/screen_dji_sim_zmq
@@ -39,7 +39,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.py __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Takeoff position info server"
diff --git a/screen/screen_dji_simple b/screen/screen_dji_simple
index b87988eb8f93f78f00b738500e92c1975e1e8da8..4d212125dfb4454a806337b0c7ee1c1fdd34bf4e 100644
--- a/screen/screen_dji_simple
+++ b/screen/screen_dji_simple
@@ -27,7 +27,7 @@ stuff "sleep 10; roslaunch lrs_launch delegation.launch __ns:=${NS} --wait\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Takeoff position info server"
diff --git a/screen/screen_dji_wasp_mpc b/screen/screen_dji_wasp_mpc
index da0f5f9d1303ac2dca6b5dcfe7fb916521efc28a..e1e7e4e22e1169d2d49c7faf51fcf6e9e7f161c2 100644
--- a/screen/screen_dji_wasp_mpc
+++ b/screen/screen_dji_wasp_mpc
@@ -39,7 +39,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.py __ns:=${NS} _gimbal_mode:=follo
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Takeoff position info server"
diff --git a/screen/screen_dji_zmq b/screen/screen_dji_zmq
index 17434bb1ff91633337ca2f3207297cc0dcb24143..1829ac59687781ce36eb22729b453dfb9620c6d8 100644
--- a/screen/screen_dji_zmq
+++ b/screen/screen_dji_zmq
@@ -39,7 +39,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.py __ns:=${NS} _gimbal_mode:=follo
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Takeoff position info server"
diff --git a/screen/screen_examples_zmq b/screen/screen_examples_zmq
index 2b52978e4c0697bf53481af43ed535e85a2dd7c1..b730c82d89eb32d87df5ca200b0474b9db6dffd8 100644
--- a/screen/screen_examples_zmq
+++ b/screen/screen_examples_zmq
@@ -25,7 +25,7 @@ stuff "sleep 10; roslaunch lrs_launch delegation.launch __ns:=${NS} --wait\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Team launch"
diff --git a/screen/screen_fw b/screen/screen_fw
index 043c7101d1dfe76a871fb6fe9b7492bad201e040..8dee6fb685a0467b1b266ca4a4d4608f3a7549e8 100644
--- a/screen/screen_fw
+++ b/screen/screen_fw
@@ -39,7 +39,7 @@ stuff "sleep 10; roslaunch lrs_launch delegation.launch __ns:=${NS} --wait\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_husky_sim2 b/screen/screen_husky_sim2
index 37fb46934630a55fd5714874ff98c65ff726316c..d47babd2c132ad6d07f04260c4c8e52495bde353 100644
--- a/screen/screen_husky_sim2
+++ b/screen/screen_husky_sim2
@@ -38,7 +38,7 @@ stuff "sleep 10; rosrun lrs_dji gimbalcontrol.py __ns:=${NS}\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_op b/screen/screen_op
index 4e0fb4c991dab7acf9ec1431176656ed35d2cec9..088b9ff9e636ba4e457044ad0a4c50ee53ac526c 100644
--- a/screen/screen_op
+++ b/screen/screen_op
@@ -41,8 +41,8 @@ stuff "roslaunch lrs_launch rviz_outside.launch"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
-#stuff "valgrind --leak-check=full --show-leak-kinds=all --track-origins=yes lrs_ws/devel/lib/lrs_com_manager/com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
+#stuff "valgrind --leak-check=full --show-leak-kinds=all --track-origins=yes lrs_ws/devel/lib/lrs_com_manager/com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_op_min b/screen/screen_op_min
index 8827df0e622353ab0581188569b41e55187ef63f..95ce846bf9cc5b9501e7335d37889370b762da19 100644
--- a/screen/screen_op_min
+++ b/screen/screen_op_min
@@ -26,7 +26,7 @@ stuff "roslaunch lrs_launch delegation.launch __ns:=${NS} --wait\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 10
 title "communication launch"
diff --git a/screen/screen_op_vpn b/screen/screen_op_vpn
index 9a5e7ef56009c67e4f1157b33e01d8e24234c69d..877752861b8bbb3ce3a830be3ce7dade0ceb8bfd 100644
--- a/screen/screen_op_vpn
+++ b/screen/screen_op_vpn
@@ -39,7 +39,7 @@ stuff "roslaunch lrs_launch rviz_outside.launch"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_op_wara b/screen/screen_op_wara
index 528fd6599c3132bb034f2826b3ffb35a04f6eb62..c37cac1bb3a424409ea9a54c285f208112d55c24 100644
--- a/screen/screen_op_wara
+++ b/screen/screen_op_wara
@@ -45,7 +45,7 @@ stuff "rviz_gpu roslaunch lrs_launch rviz_outside.launch rvizui:=true"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Test partitioner, do not use for real"
diff --git a/screen/screen_op_wara_oc b/screen/screen_op_wara_oc
index e88d2d74cfa71cbcac6ffb7d35dcdf7495ee5356..db22e13a45263e8a837557018732b376135ad757 100644
--- a/screen/screen_op_wara_oc
+++ b/screen/screen_op_wara_oc
@@ -41,7 +41,7 @@ stuff "roslaunch lrs_launch rviz_outside.launch"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}"
 
 screen 9
 title "Test partitioner, do not use for real"
diff --git a/screen/screen_op_zmq b/screen/screen_op_zmq
index f925f066647e4dd883f90520ae7f7fb7ce79d9d4..0b1bc5ddaf0e3caed08fd1d43a09c41710a5bda2 100644
--- a/screen/screen_op_zmq
+++ b/screen/screen_op_zmq
@@ -45,7 +45,7 @@ stuff "roslaunch lrs_launch rviz_outside.launch"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Interaction"
diff --git a/screen/screen_op_zmq_min b/screen/screen_op_zmq_min
index d5975079b302af307626203a4e4cbea1c176e96e..667f1d70869ee44e79e48d7b9e34b592ed8b0e33 100644
--- a/screen/screen_op_zmq_min
+++ b/screen/screen_op_zmq_min
@@ -25,7 +25,7 @@ stuff "roslaunch lrs_launch delegation.launch __ns:=${NS} --wait\015"
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=5.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=5.0 __ns:=${NS}\015"
 
 screen 10
 title "communication launch"
diff --git a/screen/screen_rmax b/screen/screen_rmax
index 733ece73e5504298a45ceac611f2d142aa123ca7..3b489d342de589fa69fe0fd610b5fb38e0dde7af 100644
--- a/screen/screen_rmax
+++ b/screen/screen_rmax
@@ -40,7 +40,7 @@ stuff "rosrun lrs_tools lrs_local_to_geo pose:=${NS}/pose geopose:=${NS}/geopose
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 11
 title "proxy launch"
diff --git a/screen/screen_rmax_sim b/screen/screen_rmax_sim
index 5308bac884cea77db921742f7cf48965f5acc841..6cd517ef5acd39b71be62fb82470f80095f33f97 100644
--- a/screen/screen_rmax_sim
+++ b/screen/screen_rmax_sim
@@ -33,7 +33,7 @@ stuff "rosrun lrs_rmax rmaxtool.py __ns:=${NS} --flyto -x 34 -y 54 -z 20 --speed
 
 screen 8
 title "Communication Manager"
-stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 _gc_timeout:=20.0 __ns:=${NS}\015"
+stuff "rosrun lrs_com_manager com_manager _resend_timeout:=10.0 __ns:=${NS}\015"
 
 screen 9
 title "Pfc connect (needed for landing)"