diff --git a/ActiveBOWeb/src/components/PolicyPlot.vue b/ActiveBOWeb/src/components/PolicyPlot.vue
index df0f1a8..221ca05 100644
--- a/ActiveBOWeb/src/components/PolicyPlot.vue
+++ b/ActiveBOWeb/src/components/PolicyPlot.vue
@@ -68,7 +68,7 @@ function buildChart() {
           display: false,
         },
         verticalLinePlugin: {
-          xValue: rlstore.current_time,
+          xValue: rlstore.getCurrentTime,
         },
       },
       lineTension: 0,
@@ -111,6 +111,8 @@ watch(
       .fill(0)
       .map((_, i) => i);
     chartHandle.data.datasets[0].data = policy;
+    chartHandle.options.plugins.verticalLinePlugin.xValue =
+      rlstore.current_time;
 
     chartHandle.update();
   }
@@ -125,6 +127,8 @@ watch(
       .fill(0)
       .map((_, i) => i);
     chartHandle.data.datasets[0].data = policy;
+    chartHandle.options.plugins.verticalLinePlugin.xValue =
+      rlstore.current_time;
 
     chartHandle.update();
   }
diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index 0b17d5d..f28ff7f 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -105,13 +105,6 @@ watch(stateCounter.value, (newValue) => {
   }
 });
 
-// Policy Service
-const policy_service = new ROS.Service({
-  ros: ros,
-  name: "/policy_srv",
-  serviceType: "active_bo_msgs/srv/WeightToPolicy",
-});
-
 // RL Service + Feedback Subscriber
 const rl_feedback_subscriber = new ROS.Topic({
   ros: ros,
@@ -122,6 +115,7 @@ const rl_feedback_subscriber = new ROS.Topic({
 rl_feedback_subscriber.subscribe((msg) => {
   rlstore.setDim(msg.height, msg.width);
   rlstore.setRgbArrays(msg.red, msg.green, msg.blue);
+  rlstore.setCurrentTime(msg.current_time);
 });
 
 const active_rl_eval_sub = new ROS.Topic({
@@ -143,32 +137,12 @@ const active_rl_eval_pub = new ROS.Topic({
   messageType: "active_bo_msgs/msg/ActiveRL",
 });
 
-// const active_eval_response_first = new ROSLIB.Message({
-//   policy: pstore.policy,
-//   weights: pstore.weights,
-// });
-// console.log(active_eval_response_first);
-// active_rl_eval_pub.publish(active_eval_response_first);
-
-// function sleep(ms) {
-//   return new Promise((resolve) => setTimeout(resolve, ms));
-// }
-
 watch(
   () => cstore.getSendWeights,
   () => {
     const metric = cstore.getMetric;
 
-    if (metric === "manually") {
-      const policy_request = new ROS.ServiceRequest({
-        weights: pstore.policy,
-        nr_steps: pstore.weights,
-      });
-
-      policy_service.callService(policy_request, function (result) {
-        pstore.setPolicy(result.policy);
-      });
-    } else if (metric === "active BO") {
+    if (metric === "active BO") {
       if (!pendingRequest.value) {
         return;
       }
@@ -200,11 +174,6 @@ const bo_service = new ROS.Service({
   serviceType: "active_bo_msgs/srv/BO",
 });
 
-// const active_bo_service = new ROSLIB.Service({
-//   ros: ros,
-//   name: "/active_bo_srv",
-//   serviceType: "active_bo_msgs/srv/ActiveBO",
-// });
 const active_bo_pending = ref(false);
 
 const active_bo_request = new ROS.Topic({