diff --git a/rmp220_middleware/rmp220_middleware_extended.py b/rmp220_middleware/rmp220_middleware_extended.py
index 1a692b1..974d4fc 100644
--- a/rmp220_middleware/rmp220_middleware_extended.py
+++ b/rmp220_middleware/rmp220_middleware_extended.py
@@ -64,11 +64,15 @@ class StateMachineNode:
         self.joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback)
         self.chassis_mode_sub = rospy.Subscriber('/chassis_mode_fb', ChassisModeFb, self.chassis_mode_callback)
 
-        # Service client initialization with a check
-        self.chassis_enable_client = None  # Ensure it's initialized to None
+        # Initialize JoystickServiceCaller
+        self.joystick_service_caller = JoystickServiceCaller()
+
+         #None  # Ensure it's initialized to None
+
         try:
-            rospy.wait_for_service('set_chassis_enable', timeout=5)
-            self.chassis_enable_client = rospy.ServiceProxy('set_chassis_enable', RosSetChassisEnableCmdSrv)
+            #rospy.wait_for_service('set_chassis_enable', timeout=5)
+            # Service client initialization with a check
+            self.chassis_enable_client = self.joystick_service_caller.service_proxy
             rospy.loginfo('Chassis enable service available.')
         except rospy.ROSException as e:
             rospy.logerr(f"Failed to wait for 'set_chassis_enable' service: {e}")
@@ -76,9 +80,6 @@ class StateMachineNode:
         # Timer for periodic updates
         self.timer = rospy.Timer(rospy.Duration(0.01), self.timer_callback)  # 100 Hz
 
-        # Initialize JoystickServiceCaller
-        self.joystick_service_caller = JoystickServiceCaller()
-
     def chassis_mode_callback(self, msg):
         """
         Callback function for handling the chassis mode feedback.