diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index 2fb30280..4f3f5a8a 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -22,16 +22,9 @@ class ApiListener(Node):
         self.message_queue = []
         self.checking_for_message = False
 
-        # self.server = None
-        # self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
-        # self.server_thread.start()
-
-        self.get_logger().info('Starting API')
-        self.websocket = websockets.connect('ws://100.100.100.106:9001')
-        self.get_logger().info('API started')
-        consumer_thread = threading.Thread(asyncio.run(self.consume_messages()))
-        consumer_thread.start()
-
+        self.server = None
+        self.server_thread = threading.Thread(target=self.start_api_thread,daemon=True)
+        self.server_thread.start()
     
     def drone_status_callback(self, msg):
         self.last_battery_percentage = msg.battery_percentage
@@ -39,47 +32,41 @@ class ApiListener(Node):
     
     def start_api_thread(self):
         asyncio.run(self.handle_api())
-    
-    def on_message(self,message):
-        self.get_logger().info(f"Callback received message: {message}")
-
-    async def consume_messages(self):
-        async for message in self.websocket:
-            self.get_logger().info(f"Consumer message: {message}")
-            self.on_message(message)
-            
 
     async def handle_api(self):
         self.get_logger().info('Starting API')
-        self.websocket = websockets.connect('ws://100.100.100.106:9001')
+        self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
         self.get_logger().info('API started')
-        consumer_thread = threading.Thread(asyncio.run(self.consume_messages()))
-        consumer_thread.start()
+        await self.server.wait_closed()
     
-    # async def handle_message_receive(self,websocket):
-    #     self.last_message = await websocket.recv()
+    async def handle_message_receive(self,websocket):
+        self.get_logger().info(f"Received message callback: {self.last_message}")
+        self.last_message = await websocket.recv()
         
-    # def message_received_callback(self):
-    #     self.get_logger().info(f"Received message callback: {self.last_message}")
-    #     self.message_queue.append(self.last_message)
-    #     self.checking_for_message = False
+    def message_received_callback(self):
+        self.get_logger().info(f"Received message callback: {self.last_message}")
+        self.message_queue.append(self.last_message)
+        self.checking_for_message = False
 
     # def handle_message(self, message):
     #     deserialized_msg = json.loads(message)
     
-    # async def api_handler(self, websocket):
-    #     try:
-    #         while True:
-    #             if not self.checking_for_message:
-    #                 self.get_logger().info('Waiting for message')
-    #                 self.checking_for_message = True
-    #                 task = asyncio.create_task(self.handle_message_receive(websocket))
-    #                 task.add_done_callback(self.message_received_callback)
-    #             if len(self.message_queue) > 0:
-    #                 websocket.send(self.message_queue.pop(0))
+    async def api_handler(self, websocket):
+        try:
+            async for message in websocket:
+                self.get_logger().info(f"Received message: {message}")
+                websocket.send(message)
+            # while True:
+            #     if not self.checking_for_message:
+            #         self.get_logger().info('Waiting for message')
+            #         self.checking_for_message = True
+            #         task = asyncio.create_task(self.handle_message_receive(websocket))
+            #         task.add_done_callback(self.message_received_callback)
+            #     if len(self.message_queue) > 0:
+            #         websocket.send(self.message_queue.pop(0))
 
-    #     except websockets.exceptions.ConnectionClosed:
-    #         self.get_logger().info('Connection closed')
+        except websockets.exceptions.ConnectionClosed:
+            self.get_logger().info('Connection closed')
 
 
 def main(args=None):