diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index fc8ad83..836b204 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -138,19 +138,26 @@ const active_rl_eval_pub = new ROSLIB.Topic({
   messageType: "active_bo_msgs/msg/ActiveRLEval",
 });
 
-function sleep(ms) {
-  return new Promise((resolve) => setTimeout(resolve, ms));
-}
+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,
-  async () => {
+  () => {
     const usr_mode = cstore.getUserMode;
 
     if (usr_mode === "manually") {
       const policy_request = new ROSLIB.ServiceRequest({
-        weights: pstore.weights,
-        nr_steps: pstore.max_steps,
+        weights: pstore.policy,
+        nr_steps: pstore.weights,
       });
 
       policy_service.callService(policy_request, function (result) {
@@ -162,17 +169,14 @@ watch(
       }
       console.log("Button pressed!");
       const active_eval_response = new ROSLIB.Message({
-        policy: pstore.getPolicy,
-        weights: pstore.getWeights,
+        policy: pstore.policy,
+        weights: pstore.weights,
       });
 
       console.log(active_eval_response);
-      for (let i = 0; i < 10; i++) {
-        console.log(i);
 
-        active_rl_eval_pub.publish(active_eval_response);
-        await sleep(1000);
-      }
+      active_rl_eval_pub.publish(active_eval_response);
+      // await sleep(1000);
       console.log("New Policy/ Weights published");
       // pendingRequest.value = false;
     }