diff --git a/config/eduro-subt-estop-lora.json b/config/eduro-subt-estop-lora.json
index 871fa6f40..6f6dcf806 100644
--- a/config/eduro-subt-estop-lora.json
+++ b/config/eduro-subt-estop-lora.json
@@ -31,19 +31,19 @@
       },
       "eduro": {
           "driver": "eduro",
-          "in": ["slot_can", "slot_desired_speed"],
+          "in": ["can", "desired_speed"],
           "out": ["can", "encoders", "emergency_stop", "pose2d", "buttons", "voltage"],
           "init": {}
       },
       "can": {
           "driver": "can",
-          "in": ["slot_raw", "slot_can"],
+          "in": ["raw", "can"],
           "out": ["can", "raw"],
           "init": {"speed": "250k", "canopen":true}
       },
       "serial": {
           "driver": "serial",
-          "in": ["slot_raw"],
+          "in": ["raw"],
           "out": ["raw"],
           "init": {"port": "/dev/ttyS0", "speed": 115200,
                    "rtscts":true, "reset":true}
@@ -119,12 +119,12 @@
           "init": {"port": "/dev/lora", "speed": 115200}
       }
     },
-    "links": [["serial.raw", "can.slot_raw"], 
-              ["can.raw", "serial.slot_raw"],
-              ["eduro.can", "can.slot_can"],
-              ["can.can", "eduro.slot_can"],
+    "links": [["serial.raw", "can.raw"], 
+              ["can.raw", "serial.raw"],
+              ["eduro.can", "can.can"],
+              ["can.can", "eduro.can"],
               ["eduro.encoders", "app.encoders"],
-              ["app.desired_speed", "eduro.slot_desired_speed"],
+              ["app.desired_speed", "eduro.desired_speed"],
               ["lidar_tcp.raw", "lidar.raw"], 
               ["lidar.raw", "lidar_tcp.raw"],
               ["slope_lidar_tcp.raw", "slope_lidar.raw"], 
diff --git a/osgar/zmqrouter.py b/osgar/zmqrouter.py
index 71e9ec1a3..fd72a3314 100644
--- a/osgar/zmqrouter.py
+++ b/osgar/zmqrouter.py
@@ -57,7 +57,7 @@ def record(config, log_prefix=None, log_filename=None, duration_sec=None):
                 modules[module_name] = subprocess.Popen([sys.executable, "-c", program])
 
             try:
-                router.register_nodes(modules.keys(), timeout=datetime.timedelta(seconds=1))
+                router.register_nodes(modules.keys(), timeout=datetime.timedelta(seconds=10))
                 links =  config['robot']['links']
                 for link_from, link_to in links:
                     router.connect(link_from, link_to)