diff --git a/src/active_bo_ros/active_bo_ros/active_rl_service.py b/src/active_bo_ros/active_bo_ros/active_rl_service.py
index a7de121..c2ce59b 100644
--- a/src/active_bo_ros/active_bo_ros/active_rl_service.py
+++ b/src/active_bo_ros/active_bo_ros/active_rl_service.py
@@ -10,6 +10,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from active_bo_ros.ReinforcementLearning.ContinuousMountainCar import Continuous_MountainCarEnv
 
 import numpy as np
+import time
 
 
 class ActiveRLService(Node):
@@ -33,13 +34,18 @@ class ActiveRLService(Node):
                                                  callback_group=sub_callback_group)
         self.eval_response_received = False
         self.eval_response = None
+        self.eval_response_received_first = False
 
         self.env = Continuous_MountainCarEnv(render_mode='rgb_array')
         self.distance_penalty = 0
 
     def active_rl_eval_callback(self, response):
-        self.eval_response = response
-        self.eval_response_received = True
+        if not self.eval_response_received_first:
+            self.eval_response_received_first = True
+            self.get_logger().info('/active_rl_eval_response connected!')
+        else:
+            self.eval_response = response
+            self.eval_response_received = True
 
     def active_rl_callback(self, request, response):
 
@@ -86,7 +92,7 @@ class ActiveRLService(Node):
         self.eval_pub.publish(eval_request)
 
         while not self.eval_response_received:
-            rclpy.spin_once(self)
+            time.sleep(0.1)
 
         self.get_logger().info('Topic responded!')
         new_policy = self.eval_response.policy