diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index 56bd6a5..37f41ea 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -108,11 +108,11 @@ watch(stateCounter.value, (newValue) => {
 });
 
 // Policy Service
-const policy_service = new ROSLIB.Service({
-  ros: ros,
-  name: "/policy_srv",
-  serviceType: "active_bo_msgs/srv/WeightToPolicy",
-});
+// const policy_service = new ROSLIB.Service({
+//   ros: ros,
+//   name: "/policy_srv",
+//   serviceType: "active_bo_msgs/srv/WeightToPolicy",
+// });
 
 // RL Service + Feedback Suscriber
 const rl_feedback_subscriber = new ROSLIB.Topic({
@@ -126,66 +126,99 @@ rl_feedback_subscriber.subscribe((msg) => {
   mcstore.setRgbArrays(msg.red, msg.green, msg.blue);
 });
 
-const active_rl_eval_sub = new ROSLIB.Topic({
-  ros: ros_eval,
-  name: "/active_rl_eval_request",
-  messageType: "active_bo_msgs/msg/ActiveRLEval",
+// const active_rl_eval_sub = new ROSLIB.Topic({
+//   ros: ros_eval,
+//   name: "/active_rl_eval_request",
+//   messageType: "active_bo_msgs/msg/ActiveRLEval",
+// });
+//
+// const pendingRequest = ref(false);
+// active_rl_eval_sub.subscribe((msg) => {
+//   pstore.setPolicy(msg.policy);
+//   pstore.setWeights(msg.weights);
+//   pendingRequest.value = true;
+// });
+//
+// const active_rl_eval_pub = new ROSLIB.Topic({
+//   ros: ros_eval,
+//   name: "/active_rl_eval_response",
+//   messageType: "active_bo_msgs/msg/ActiveRLEval",
+// });
+
+// Active RL Eval Service
+let active_rl_eval_srv = new ROSLIB.Service({
+  ros: ros,
+  name: "/active_rl_eval_srv",
+  serviceType: "active_bo_msgs/srv/ActiveRLEval",
 });
 
+let currentResponse = null;
+let currentServiceId = null;
 const pendingRequest = ref(false);
-active_rl_eval_sub.subscribe((msg) => {
-  pstore.setPolicy(msg.policy);
-  pstore.setWeights(msg.weights);
+
+active_rl_eval_srv.advertise(function (request, response) {
+  currentResponse = response;
+  currentServiceId = this.id;
   pendingRequest.value = true;
-});
 
-const active_rl_eval_pub = new ROSLIB.Topic({
-  ros: ros_eval,
-  name: "/active_rl_eval_response",
-  messageType: "active_bo_msgs/msg/ActiveRLEval",
-});
+  pstore.setPolicy(request["old_policy"]);
+  pstore.setWeights(request["old_weights"]);
 
-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);
+  console.log(request);
 
-// function sleep(ms) {
-//   return new Promise((resolve) => setTimeout(resolve, ms));
-// }
+  return false;
+});
 
 watch(
   () => cstore.getSendWeights,
   () => {
     const usr_mode = cstore.getUserMode;
 
-    if (usr_mode === "manually") {
-      const policy_request = new ROSLIB.ServiceRequest({
-        weights: pstore.policy,
-        nr_steps: pstore.weights,
-      });
-
-      policy_service.callService(policy_request, function (result) {
-        pstore.setPolicy(result.policy);
-      });
-    } else if (usr_mode === "active BO") {
+    // if (usr_mode === "manually") {
+    //   const policy_request = new ROSLIB.ServiceRequest({
+    //     weights: pstore.policy,
+    //     nr_steps: pstore.weights,
+    //   });
+    //
+    //   policy_service.callService(policy_request, function (result) {
+    //     pstore.setPolicy(result.policy);
+    //   });
+    // } else
+    if (usr_mode === "active BO") {
       if (!pendingRequest.value) {
         return;
       }
       console.log("Button pressed!");
-      const active_eval_response = new ROSLIB.Message({
-        policy: pstore.policy,
-        weights: pstore.weights,
+      // const active_eval_response = new ROSLIB.Message({
+      //   policy: pstore.policy,
+      //   weights: pstore.weights,
+      // });
+      //
+      // console.log(active_eval_response);
+      //
+      // active_rl_eval_pub.publish(active_eval_response);
+      // // await sleep(1000);
+      // console.log("New Policy/ Weights published");
+      // pendingRequest.value = false;
+
+      currentResponse["new_policy"] = pstore.getPolicy;
+      currentResponse["new_weights"] = pstore.getWeights;
+
+      console.log(currentResponse);
+
+      active_rl_eval_srv.ros.callOnConnection({
+        op: "service_response",
+        service: active_rl_eval_srv.name,
+        values: currentResponse,
+        id: currentServiceId,
+        result: true,
       });
 
-      console.log(active_eval_response);
+      console.log("Service Responded!");
 
-      active_rl_eval_pub.publish(active_eval_response);
-      // await sleep(1000);
-      console.log("New Policy/ Weights published");
       // pendingRequest.value = false;
+      // currentResponse = null;
+      // currentServiceId = null;
     }
   }
 );