diff --git a/EspIdf/EspIdfParticipant.cpp b/EspIdf/EspIdfParticipant.cpp
index f61307d..8e4dd66 100644
--- a/EspIdf/EspIdfParticipant.cpp
+++ b/EspIdf/EspIdfParticipant.cpp
@@ -102,7 +102,6 @@ void LocalParticipant::Receive() {
     char sender_ipAddress[16];
     inet_ntoa_r(this->src_addr.sin_addr, sender_ipAddress, INET_ADDRSTRLEN);
     unsigned int sender_port = ntohs(this->src_addr.sin_port);
-    std::cout << "Received from " << ntohs(this->src_addr.sin_port) << "\n";
 
     ReceiveData(packetSize, sender_ipAddress, sender_port);
 
diff --git a/LocalParticipant.cpp b/LocalParticipant.cpp
index 1d94e55..42e11f9 100644
--- a/LocalParticipant.cpp
+++ b/LocalParticipant.cpp
@@ -25,8 +25,6 @@
 
 namespace RoboidControl {
 
-// LocalParticipant::LocalParticipant() {}
-
 LocalParticipant::LocalParticipant(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
@@ -260,8 +258,8 @@ void LocalParticipant::ReceiveData(unsigned char packetSize,
       this->GetParticipant(senderIpAddress, senderPort);
   if (remoteParticipant == nullptr) {
     remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
-    std::cout << "New sender " << senderIpAddress << ":" << senderPort
-              << "\n";
+    // std::cout << "New sender " << senderIpAddress << ":" << senderPort
+    //           << "\n";
     std::cout << "New remote participant " << remoteParticipant->ipAddress
               << ":" << remoteParticipant->port << " "
               << (int)remoteParticipant->networkId << "\n";
@@ -273,7 +271,7 @@ void LocalParticipant::ReceiveData(unsigned char packetSize,
 void LocalParticipant::ReceiveData(unsigned char bufferSize,
                                    Participant* remoteParticipant) {
   unsigned char msgId = this->buffer[0];
-  // std::cout << "receive msg " << (int)msgId << "\n";
+  //std::cout << "receive msg " << (int)msgId << "\n";
   switch (msgId) {
     case ParticipantMsg::id: {
       ParticipantMsg* msg = new ParticipantMsg(this->buffer);
@@ -328,9 +326,14 @@ void LocalParticipant::Process(Participant* sender, SiteMsg* msg) {
 
 void LocalParticipant::Process(Participant* sender, InvestigateMsg* msg) {}
 
-void LocalParticipant::Process(Participant* sender, ThingMsg* msg) {}
+void LocalParticipant::Process(Participant* sender, ThingMsg* msg) {
+  std::cout << this->name << ": process Thing [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
+}
 
 void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
+  std::cout << this->name << ": process Name [" << (int)this->networkId
+  << "/" << (int)msg->networkId << "]\n";
+
   Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr) {
     int nameLength = msg->nameLength;
@@ -353,12 +356,12 @@ void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
   }
 }
 
-void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {}
+void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {
+  std::cout << this->name << ": process Pose [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
+}
 
 void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
-  // std::cout << this->name << ": process Binary [" << (int)this->networkId <<
-  // "/"
-  //           << (int)msg->networkId << "]\n";
+  std::cout << this->name << ": process Binary [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
   Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr)
     thing->ProcessBinary(msg->bytes);