diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 35adaa2de8a9c3048622728bcb19953fa336995b..f0a4f50914a654d5863958a1eda14ffd39a3158e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -291,6 +291,18 @@ namespace armarx
             }
             if (robotUnitObserver->getState() >= eManagedIceObjectStarted)
             {
+                std::stringstream s;
+                for (auto& pair : sensorDevMap)
+                {
+                    s << pair.first << ": \t" << (pair.second ? pair.second->ice_id() + "\t with datatype \t" + Variant::typeToString(pair.second->getType()) : "NULL")  << "\n";
+                }
+                ARMARX_DEBUG << deactivateSpam(spamdelay) << "Datafieldnames: "  << ARMARX_STREAM_PRINTER
+                {
+                    for (auto& pair : sensorDevMap)
+                    {
+                        out << pair.first << ": " << (pair.second ? pair.second->ice_id() + Variant::typeToString(pair.second->getType()) : "NULL")  << "\n";
+                    }
+                };
                 robotUnitObserver->offerOrUpdateDataFieldsFlatCopy(robotUnitObserver->sensorDevicesChannel, sensorDevMap);
                 robotUnitObserver->updateChannel(robotUnitObserver->sensorDevicesChannel);
             }
@@ -334,8 +346,13 @@ namespace armarx
 
         void Publisher::_preOnConnectRobotUnit()
         {
+            ARMARX_DEBUG << "retrieving RobotUnitListenerPrx for topic " << getRobotUnitListenerTopicName();
             robotUnitListenerPrx = getTopic<RobotUnitListenerPrx>(getRobotUnitListenerTopicName());
+
+            ARMARX_DEBUG << "retrieving DebugDrawerInterfacePrx for topic " << getDebugDrawerTopicName();
             debugDrawerPrx = getTopic<DebugDrawerInterfacePrx>(getDebugDrawerTopicName());
+
+            ARMARX_DEBUG << "retrieving DebugObserverInterfacePrx for topic " << getDebugObserverTopicName();
             debugObserverPrx = getTopic<DebugObserverInterfacePrx>(getDebugObserverTopicName());
         }