diff --git a/ros_web_api_bellande_step/src/bellande_step_api_2d.py b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
index a815209..d837d4a 100644
--- a/ros_web_api_bellande_step/src/bellande_step_api_2d.py
+++ b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
@@ -1,39 +1,45 @@
 import json
-import requests
 import os
+import requests
 
-# Get the parameters from the launch file
-x1 = float(os.getenv('x1'))
-y1 = float(os.getenv('y1'))
-x2 = float(os.getenv('x2'))  # Read x2 from launch file
-y2 = float(os.getenv('y2'))  # Read y2 from launch file
-limit = int(os.getenv('limit'))
+def main():
+    # Read configuration from config.json
+    with open('config.json', 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']
 
-# URL and endpoint path
-url = "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run"
-endpoint_path = "/api/Bellande_Step/bellande_step_2d"
+    # Get the parameters from the launch file
+    x1 = float(os.getenv('x1'))
+    y1 = float(os.getenv('y1'))
+    x2 = float(os.getenv('x2'))
+    y2 = float(os.getenv('y2'))
+    limit = int(os.getenv('limit'))
 
-# JSON payload
-payload = {
-    "node0": {"x": x1, "y": y1},
-    "node1": {"x": x2, "y": y2}
-}
+    # JSON payload
+    payload = {
+        "node0": {"x": x1, "y": y1},
+        "node1": {"x": x2, "y": y2}
+    }
 
-# Headers
-headers = {
-    'accept': 'application/json',
-    'Content-Type': 'application/json'
-}
+    # Headers
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json'
+    }
 
-# Make POST request
-try:
-    response = requests.post(
-        url + endpoint_path + '?limit=' + str(limit),
-        json=payload,
-        headers=headers
-    )
-    response.raise_for_status()  # Raise an error for unsuccessful responses
-    data = response.json()
-    print("Next Step:", data['next_step'])
-except requests.exceptions.RequestException as e:
-    print("Error:", e)
+    # Make POST request
+    try:
+        response = requests.post(
+            url + endpoint_path + '?limit=' + str(limit),
+            json=payload,
+            headers=headers
+        )
+        response.raise_for_status()  # Raise an error for unsuccessful responses
+        data = response.json()
+        print("Next Step:", data['next_step'])
+    except requests.exceptions.RequestException as e:
+        print("Error:", e)
+
+if __name__ == '__main__':
+    main()