diff --git a/plugins/de.fraunhofer.ipa.ros.sirius/description/ros.odesign b/plugins/de.fraunhofer.ipa.ros.sirius/description/ros.odesign
index dddd007f..444cc312 100644
--- a/plugins/de.fraunhofer.ipa.ros.sirius/description/ros.odesign
+++ b/plugins/de.fraunhofer.ipa.ros.sirius/description/ros.odesign
@@ -5,17 +5,73 @@
       <metamodel href="../../de.fraunhofer.ipa.rossystem/model/rossystem.ecore#/"/>
       <metamodel href="../../de.fraunhofer.ipa.ros/model/ros.ecore#/"/>
       <defaultLayer name="Default">
-        <edgeMappings name="TopicConnection" sourceMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='Publisher']" targetMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='Subscriber']" targetFinderExpression="feature:to" sourceFinderExpression="feature:from" domainClass="system::RosTopicConnection" useDomainElement="true" pathNodeMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='Publisher'] //@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='Subscriber']">
-          <style sizeComputationExpression="2">
-            <strokeColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='gray']"/>
-            <centerLabelStyleDescription labelSize="12">
+        <edgeMappings name="RosTopicConnection" synchronizationLock="true" sourceMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosPublisher']" targetMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosSubscriber']" targetFinderExpression="[to.reference/]" sourceFinderExpression="[from.reference/]" domainClass="system::RosSystemConnection" useDomainElement="true" pathNodeMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosPublisher'] //@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosSubscriber']">
+          <style targetArrow="NoDecoration" sizeComputationExpression="2" routingStyle="manhattan" endsCentering="Both">
+            <strokeColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+            <centerLabelStyleDescription labelSize="10" showIcon="false" labelExpression="[from.name/]">
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+            </centerLabelStyleDescription>
+          </style>
+        </edgeMappings>
+        <edgeMappings name="RosServiceConnection" sourceMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosServiceServer']" targetMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosServiceClient']" targetFinderExpression="[to.reference/]" sourceFinderExpression="[from.reference/]" domainClass="system::RosSystemConnection" useDomainElement="true" pathNodeMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosPublisher'] //@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosSubscriber']">
+          <style targetArrow="NoDecoration" sizeComputationExpression="2" routingStyle="manhattan" endsCentering="Both">
+            <strokeColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='blue']"/>
+            <centerLabelStyleDescription labelSize="10" showIcon="false" labelExpression="[from.name/]">
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+            </centerLabelStyleDescription>
+          </style>
+        </edgeMappings>
+        <edgeMappings name="RosActionConnection" sourceMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosActionServer']" targetMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosActionClient']" targetFinderExpression="[to.reference/]" sourceFinderExpression="[from.reference/]" domainClass="system::RosSystemConnection" useDomainElement="true" pathNodeMapping="//@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosPublisher'] //@ownedViewpoints[name='System']/@ownedRepresentations[name='RosSystem']/@defaultLayer/@containerMappings[name='Component']/@borderedNodeMappings[name='RosSubscriber']">
+          <style targetArrow="NoDecoration" sizeComputationExpression="2" routingStyle="manhattan" endsCentering="Both">
+            <strokeColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='green']"/>
+            <centerLabelStyleDescription labelSize="10" showIcon="false" labelExpression="[from.name/]">
               <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
             </centerLabelStyleDescription>
           </style>
         </edgeMappings>
         <containerMappings name="Component" semanticCandidatesExpression="feature:components" domainClass="system::RosNode">
-          <borderedNodeMappings name="Publisher" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosPublisherReference">
+          <borderedNodeMappings name="RosPublisher" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosPublisherReference">
+            <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="LEFT" sizeComputationExpression="2" resizeKind="NSEW">
+              <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <forbiddenSides>WEST</forbiddenSides>
+              <forbiddenSides>SOUTH</forbiddenSides>
+              <forbiddenSides>NORTH</forbiddenSides>
+              <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+            </style>
+          </borderedNodeMappings>
+          <borderedNodeMappings name="RosSubscriber" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosSubscriberReference">
+            <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="RIGHT" sizeComputationExpression="2" resizeKind="NSEW">
+              <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <forbiddenSides>SOUTH</forbiddenSides>
+              <forbiddenSides>EAST</forbiddenSides>
+              <forbiddenSides>NORTH</forbiddenSides>
+              <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+            </style>
+          </borderedNodeMappings>
+          <borderedNodeMappings name="RosServiceServer" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosServiceServerReference">
             <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="LEFT" sizeComputationExpression="2" resizeKind="NSEW">
+              <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <forbiddenSides>WEST</forbiddenSides>
+              <forbiddenSides>SOUTH</forbiddenSides>
+              <forbiddenSides>NORTH</forbiddenSides>
+              <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='blue']"/>
+            </style>
+          </borderedNodeMappings>
+          <borderedNodeMappings name="RosServiceClient" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosServiceClientReference">
+            <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="RIGHT" sizeComputationExpression="2" resizeKind="NSEW">
+              <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
+              <forbiddenSides>SOUTH</forbiddenSides>
+              <forbiddenSides>EAST</forbiddenSides>
+              <forbiddenSides>NORTH</forbiddenSides>
+              <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='blue']"/>
+            </style>
+          </borderedNodeMappings>
+          <borderedNodeMappings name="RosActionServer" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosActionServerReference">
+            <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="RIGHT" sizeComputationExpression="2" resizeKind="NSEW">
               <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
               <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
               <forbiddenSides>WEST</forbiddenSides>
@@ -24,7 +80,7 @@
               <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='green']"/>
             </style>
           </borderedNodeMappings>
-          <borderedNodeMappings name="Subscriber" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosSubscriberReference">
+          <borderedNodeMappings name="RosActionClient" semanticCandidatesExpression="[rosinterfaces.reference/]" domainClass="system::RosActionClientReference">
             <style xsi:type="style:SquareDescription" labelSize="10" showIcon="false" labelExpression="[eContainer().toString().substring(eContainer().toString().indexOf('name:') + 5, eContainer().toString().lastIndexOf(')') - 1)/]" labelAlignment="RIGHT" sizeComputationExpression="2" resizeKind="NSEW">
               <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
               <labelColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
@@ -34,6 +90,7 @@
               <color xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='green']"/>
             </style>
           </borderedNodeMappings>
+          <subNodeMappings name="RosInterface" semanticCandidatesExpression="feature:rosinterfaces" domainClass="system::RosInterface"/>
           <style xsi:type="style:FlatContainerStyleDescription" borderSizeComputationExpression="1" labelSize="10" showIcon="false" tooltipExpression="feature:namespace">
             <borderColor xsi:type="description:SystemColor" href="environment:/viewpoint#//@systemColors/@entries[name='black']"/>
             <labelFormat>bold</labelFormat>