bool srvCallback_ElmoRecorderConfig(cob_srvs::ElmoRecorderConfig::Request &req,
							  cob_srvs::ElmoRecorderConfig::Response &res ){
			if(m_bisInitialized) {			
				m_CanCtrlPltf->evalCanBuffer();
				res.success = m_CanCtrlPltf->ElmoRecordings(0, req.recordinggap, "");
				res.message = "Successfully configured all motors for instant record";
			}

			return true;
		}
		bool srvCallback_ElmoRecorderReadout(cob_srvs::ElmoRecorderReadout::Request &req,
							  cob_srvs::ElmoRecorderReadout::Response &res ){
			if(m_bisInitialized) {
				m_CanCtrlPltf->evalCanBuffer();
				res.success = m_CanCtrlPltf->ElmoRecordings(1, req.subindex, req.fileprefix);
				if(res.success == 0) res.message = "Successfully requested reading out of Recorded data";
				else if(res.success == 1) res.message = "Recorder hasn't been configured well yet";
				else if(res.success == 2) res.message = "A previous transmission is still in progress";
			}

			return true;
		}
		bool srvCallback_ElmoRecorderConfig(cob_base_drive_chain::ElmoRecorderConfig::Request &req,
							  cob_base_drive_chain::ElmoRecorderConfig::Response &res ){
			if(m_bisInitialized) 
			{
#ifdef __SIM__
				res.success = true;
#else
				m_CanCtrlPltf->evalCanBuffer();
				res.success = m_CanCtrlPltf->ElmoRecordings(0, req.recordinggap, "");
#endif
				res.message = "Successfully configured all motors for instant record";
			}

			return true;
		}
		bool srvCallback_ElmoRecorderReadout(cob_base_drive_chain::ElmoRecorderReadout::Request &req,
							  cob_base_drive_chain::ElmoRecorderReadout::Response &res ){
			if(m_bisInitialized) {
#ifdef __SIM__
				res.success = true;
#else
				m_CanCtrlPltf->evalCanBuffer();
				res.success = m_CanCtrlPltf->ElmoRecordings(1, req.subindex, req.fileprefix);
#endif
				if(res.success == 0) {
					res.message = "Successfully requested reading out of Recorded data";
					m_bReadoutElmo = true;
					ROS_WARN("CPU consuming evalCanBuffer used for ElmoReadout activated");
				} else if(res.success == 1) res.message = "Recorder hasn't been configured well yet";
				else if(res.success == 2) res.message = "A previous transmission is still in progress";
			}

			return true;
		}