diff --git a/rbs_bt_executor/src/PoseEstimation.cpp b/rbs_bt_executor/src/PoseEstimation.cpp
index 92eba20..fee2fe2 100644
--- a/rbs_bt_executor/src/PoseEstimation.cpp
+++ b/rbs_bt_executor/src/PoseEstimation.cpp
@@ -9,7 +9,6 @@
 
 #include "lifecycle_msgs/msg/transition.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
-// #include <component_interfaces/srv/detect_object.hpp>
 
 using PoseEstimationSrv = lifecycle_msgs::srv::ChangeState;
 class PoseEstimation : public BtService<PoseEstimationSrv> {
@@ -21,7 +20,17 @@ public:
     _set_params_client =
         this->_node->create_client<rcl_interfaces::srv::SetParameters>(
             "/image_sub2/set_parameters");
-    
+
+    while (!_set_params_client->wait_for_service(1s)) {
+      if (!rclcpp::ok()) {
+        RCLCPP_ERROR(_node->get_logger(),
+                     "Interrupted while waiting for the service. Exiting.");
+        break;
+      }
+      RCLCPP_WARN(_node->get_logger(),
+                  "service not available, waiting again...");
+    }
+
     _model_name = getInput<std::string>("ObjectName").value();
   }
 
@@ -87,28 +96,24 @@ private:
   void set_mesh_param() {
     auto _package_name =
         ament_index_cpp::get_package_share_directory("rbs_perception");
-    RCLCPP_INFO_STREAM(_node->get_logger(), _package_name);
     _model_path = build_model_path(_model_name, _package_name);
+    RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
 
     auto param_request =
         std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
-    rcl_interfaces::msg::ParameterValue val;
-    val.set__string_value(_model_path);
+    rcl_interfaces::msg::ParameterValue model_path_param_value;
+    model_path_param_value.set__string_value(_model_path);
     _param.name = "mesh_path";
-    _param.value = val;
+    _param.value = model_path_param_value;
     _params.push_back(_param);
     param_request->set__parameters(_params);
 
-    while (!_set_params_client->wait_for_service(1s)) {
-      if (!rclcpp::ok()) {
-        RCLCPP_ERROR(_node->get_logger(),
-                     "Interrupted while waiting for the service. Exiting.");
-        break;
-      }
-      RCLCPP_INFO(_node->get_logger(),
-                  "service not available, waiting again...");
-    }
     auto response = send_request(_node, _set_params_client, param_request);
+    RCLCPP_INFO(_node->get_logger(), "Response");
+
+    for (auto &tt : response->results) {
+      RCLCPP_INFO(_node->get_logger(), "%d \n", tt.successful);
+    }
   }
 
   rcl_interfaces::srv::SetParameters::Response::SharedPtr send_request(
@@ -116,14 +121,14 @@ private:
       rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr client,
       rcl_interfaces::srv::SetParameters::Request::SharedPtr request) {
     auto result = client->async_send_request(request);
-    // Wait for the result.
     if (rclcpp::spin_until_future_complete(node, result) ==
         rclcpp::FutureReturnCode::SUCCESS) {
       return result.get();
     } else {
-      return NULL;
+      return nullptr;
     }
   }
+
 };
 
 #include "behaviortree_cpp_v3/bt_factory.h"