diff --git a/task_generator/robot_setup/rosnav_agents.yaml b/task_generator/robot_setup/rosnav_agents.yaml
index c3bb1c2b..ea2653b4 100644
--- a/task_generator/robot_setup/rosnav_agents.yaml
+++ b/task_generator/robot_setup/rosnav_agents.yaml
@@ -12,7 +12,10 @@ robots:
   - model: jackal
     planner: rosnav
     amount: 3
-    agent: new_jackal
+    agent: jackal
+  - model: rto
+    planner: teb
+    amount: 3
   # - model: jackal
   #   planner: rosnav
   #   amount: 1
diff --git a/task_generator/scripts/task_generator_node.py b/task_generator/scripts/task_generator_node.py
index e1f947ef..db6d88ce 100644
--- a/task_generator/scripts/task_generator_node.py
+++ b/task_generator/scripts/task_generator_node.py
@@ -106,11 +106,12 @@ def _send_end_message_on_end(self, is_end):
 
         rospy.loginfo("Shutting down. All tasks completed")
 
-        # Send this message 10 times to make sure it is received
-        for _ in range(10):
-            self.pub_scenario_finished.publish(Bool(True))
+        # Send Task finished to Backend
+        if rospy.get_param("/is_webapp_docker", False):
+            while self.pub_scenario_finished.get_num_connections() <= 0:
+                pass
 
-            rospy.sleep(0.1)
+            self.pub_scenario_finished.publish(Empty())
 
         rospy.signal_shutdown("Finished all episodes of the current scenario")
 
diff --git a/task_generator/task_generator/simulators/gazebo_simulator.py b/task_generator/task_generator/simulators/gazebo_simulator.py
index 1e7229a5..3d792d58 100644
--- a/task_generator/task_generator/simulators/gazebo_simulator.py
+++ b/task_generator/task_generator/simulators/gazebo_simulator.py
@@ -28,7 +28,7 @@ def __init__(self, namespace):
 
         self._goal_pub = rospy.Publisher(self._ns_prefix("/goal"), PoseStamped, queue_size=1, latch=True)
 
-        self._robot_name = rospy.get_param("robot_model")
+        self._robot_name = rospy.get_param("robot_model", "")
 
         rospy.wait_for_service("/gazebo/spawn_urdf_model")
         rospy.wait_for_service("/gazebo/set_model_state")
diff --git a/training/scripts/train_agent.py b/training/scripts/train_agent.py
index 90c50e3e..340fbe83 100644
--- a/training/scripts/train_agent.py
+++ b/training/scripts/train_agent.py
@@ -74,11 +74,15 @@ def main():
 
     model.env.close()
 
-    publisher = rospy.Publisher("training_finished", Empty, queue_size=10)
+    # Send Task finished to Backend
+    if rospy.get_param("/is_webapp_docker", False):
+        publisher = rospy.Publisher("training_finished", Empty, queue_size=10)
+        
+        while publisher.get_num_connections() <= 0:
+            pass
 
-    for _ in range(10):
         publisher.publish(Empty())
-        rospy.sleep(0.1)
+
 
     sys.exit()