diff --git a/ros_web_api_bellande_step/config/configs.json b/ros_web_api_bellande_step/config/configs.json
index bd0f1b9..f2180ff 100644
--- a/ros_web_api_bellande_step/config/configs.json
+++ b/ros_web_api_bellande_step/config/configs.json
@@ -1,4 +1,20 @@
 {
+  "license": [
+    "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+    "This program is free software: you can redistribute it and/or modify",
+    "it under the terms of the GNU General Public License as published by",
+    "the Free Software Foundation, either version 3 of the License, or",
+    "(at your option) any later version.",
+    "",
+    "This program is distributed in the hope that it will be useful,",
+    "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the",
+    "GNU General Public License for more details.",
+    "",
+    "You should have received a copy of the GNU General Public License",
+    "along with this program.  If not, see <https://www.gnu.org/licenses/>.",
+    "GNU General Public License v3.0 or later"
+  ],
   "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
   "endpoint_path": {
     "2d": "/api/Bellande_Step/bellande_step_2d",
diff --git a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
index be7af43..4e5411d 100644
--- a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
+++ b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
@@ -1,3 +1,18 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
 import os
 import sys
 import subprocess
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 118edce..16de6d2 100755
--- a/ros_web_api_bellande_step/src/bellande_step_api_2d.py
+++ b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
@@ -1,55 +1,101 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
 import json
 import os
 import requests
+from std_msgs.msg import String
 
-def main():
-    # Get the absolute path to the config file
-    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+def get_next_step(x1, y1, x2, y2, limit):
+    payload = {
+        "node0": {"x": x1, "y": y1},
+        "node1": {"x": x2, "y": y2}
+    }
 
-    # Check if the config file exists
-    if not os.path.exists(config_file_path):
-        print("Config file not found:", config_file_path)
-        return
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json',
+        "Authorization": f"Bearer {api_access_key}"
+    }
 
-    # Read configuration from config.json
-    with open(config_file_path, 'r') as config_file:
-        config = json.load(config_file)
-        url = config['url']
-        endpoint_path = config['endpoint_path']["2d"]
-    
-    # Get the parameters from the ROS parameter server
+    try:
+        response = requests.post(
+            f"{api_url}?limit={limit}",
+            json=payload,
+            headers=headers
+        )
+        response.raise_for_status()
+        data = response.json()
+        return String(f"Next Step: {data['next_step']}")
+    except requests.exceptions.RequestException as e:
+        print(f"Error: {e}")
+        return None
+
+def parameter_callback(event):
     x1 = rospy.get_param('x1', 0)
     y1 = rospy.get_param('y1', 0)
     x2 = rospy.get_param('x2', 0)
     y2 = rospy.get_param('y2', 0)
     limit = rospy.get_param('limit', 3)
 
-    # JSON payload
-    payload = {
-        "node0": {"x": x1, "y": y1},
-        "node1": {"x": x2, "y": y2}
-    }
+    next_step = get_next_step(x1, y1, x2, y2, limit)
+    if next_step:
+        pub.publish(next_step)
 
-    # Headers
-    headers = {
-        'accept': 'application/json',
-        'Content-Type': 'application/json'
-    }
+def main():
+    global api_url, api_access_key, pub
 
-
-    # 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'])
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
     
-    except requests.exceptions.RequestException as e:
-        print("Error:", e)
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+    
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["2d"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    # Initialize ROS node
+    if ros_version == "1":
+        rospy.init_node('next_step_node', anonymous=True)
+        pub = rospy.Publisher('next_step_result', String, queue_size=10)
+        rospy.Timer(rospy.Duration(1), parameter_callback)  # Check parameters every second
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('next_step_node')
+        pub = node.create_publisher(String, 'next_step_result', 10)
+        node.create_timer(1.0, parameter_callback)  # Check parameters every second
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Next step node is running. Ctrl+C to exit.")
+        if ros_version == "1":
+            rospy.spin()
+        elif ros_version == "2":
+            rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("Shutting down next step node.")
+    except Exception as e:
+        print(f"An error occurred: {str(e)}")
+    finally:
+        if ros_version == "2":
+            node.destroy_node()
+            rclpy.shutdown()
 
 if __name__ == '__main__':
     ros_version = os.getenv("ROS_VERSION")
@@ -57,5 +103,4 @@ if __name__ == '__main__':
         import rospy
     elif ros_version == "2":
         import rclpy
-
     main()