diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py
index 0d63909b..6dd22db3 100644
--- a/src/api_communication/api_communication/api_listener.py
+++ b/src/api_communication/api_communication/api_listener.py
@@ -10,6 +10,7 @@ import websockets.server
 import threading
 import json
 from enum import Enum
+from functools import partial
 
 # communication: client always sends commands that have a command id.
 # server always sends messages back that have a message type
@@ -120,15 +121,23 @@ class ApiListener(Node):
             self.get_logger().info(
                 f'Filename: {message_json["filename"]}')
             self.take_picture_request.input_name = message_json['filename']
-        self.future = self.take_picture_client.call_async(self.take_picture_request)
-        rclpy.spin_until_future_complete(self, self.future)
-        result_filename = self.future.result()
-        self.get_logger().info("Received result filename: " + result_filename)
-        with open(result_filename, 'rb') as f:
-            self.get_logger().info('Reading image')
-            image_data = f.read()
-            self.message_queue.append(json.dumps(
-                {'type': ResponseMessage.IMAGE.name, 'image': image_data}))
+        self.get_logger().info('Calling take picture service')
+        future = self.take_picture_client.call_async(self.take_picture_request)
+        future.add_done_callback(partial(self.image_request_callback))
+        
+    
+    def image_request_callback(self, future):
+        try:
+            result_filename = future.result()
+            self.get_logger().info("Received result filename: " + result_filename)
+            with open(result_filename, 'rb') as f:
+                self.get_logger().info('Reading image')
+                image_data = f.read()
+                self.message_queue.append(json.dumps(
+                    {'type': ResponseMessage.IMAGE.name, 'image': image_data}))
+        except Exception as e:
+            self.get_logger().error('Something went wrong while sending a take picture request and waiting for the response: %r' % (e))
+            
 
     def send_available_commands(self):
         print('Sending available commands')
@@ -228,7 +237,7 @@ class ApiListener(Node):
                     self.get_logger().error('Received unknown command ' + str(message_json['command']) )
                     self.send_available_commands()
         except TypeError:
-            self.get_logger().error('Received unknown type')
+            self.get_logger().error('Received unknown type: ' +str(type(message)) + " " + str(message))
             self.send_available_commands()
         except json.JSONDecodeError:
             self.get_logger().error('Received invalid JSON')