diff --git a/bt_nodes/perception/src/perception/count_people.cpp b/bt_nodes/perception/src/perception/count_people.cpp
index e3da1d5..920beea 100644
--- a/bt_nodes/perception/src/perception/count_people.cpp
+++ b/bt_nodes/perception/src/perception/count_people.cpp
@@ -140,7 +140,7 @@ BT::NodeStatus CountPeople::tick()
       }
 
       // gesture filtering
-      if (gesture_ != "unknown" && !removed) {
+      if (gesture_ != "unknown" && !gesture_.empty() && !removed) {
         RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by gesture");
         if (std::find(
             gestures_[gesture_].begin(), gestures_[gesture_].end(),
@@ -159,7 +159,7 @@ BT::NodeStatus CountPeople::tick()
       }
 
       // pose filtering
-      if (pose_ != "unknown" && !removed) {
+      if (pose_ != "unknown" && !pose_.empty() && !removed) {
         RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by pose");
         if (pose_names_[detection.body_pose] == pose_) {
           RCLCPP_DEBUG(
diff --git a/robocup_bringup/bt_xml/gpsr.xml b/robocup_bringup/bt_xml/gpsr.xml
index 0822220..ef0e1d0 100644
--- a/robocup_bringup/bt_xml/gpsr.xml
+++ b/robocup_bringup/bt_xml/gpsr.xml
@@ -32,8 +32,8 @@
                             <Action ID="StartMusic" audio="elevator" loop="true" />
                             <Action ID="CommandPlanning" command="{command}" actions="{action_list}" bt_value="{bt_xml}"/>
                             <Action ID="StopMusic" />
-                            <Action ID="Speak" say_text="Then I have to do the following actions " param="{action_list}"/>
-                            <Action ID="Speak" say_text="This is correct?" param=""/>
+                            <Action ID="Speak" say_text="Here it is the reasoning for the next actions: " param="{action_list}"/>
+                            <Action ID="Speak" say_text="Is this correct?" param=""/>
                             <Action ID="DialogConfirmation"/>
                         </Sequence>
                     </RetryUntilSuccessful>