diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
index 538c89a..aa0296e 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
@@ -34,6 +34,7 @@ class HebirosGazeboPlugin: public ModelPlugin {
 private:
 
   physics::ModelPtr model;
+  bool first_sim_iteration{true};  
   event::ConnectionPtr update_connection;
   std::map<std::string, std::shared_ptr<HebirosGazeboGroup>> hebiros_groups;
   std::map<std::string, std::shared_ptr<HebirosGazeboJoint>> hebiros_joints;
diff --git a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
index 6e9f396..983374f 100644
--- a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
+++ b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
@@ -8,11 +8,6 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
   char **argv = NULL;
   ros::init(argc, argv, "hebiros_gazebo_plugin_node");
 
-  this->add_group_srv =
-    this->n->advertiseService<AddGroupFromNamesSrv::Request, AddGroupFromNamesSrv::Response>(
-    "hebiros_gazebo_plugin/add_group", boost::bind(
-    &HebirosGazeboPlugin::SrvAddGroup, this, _1, _2));
-
   this->robot_namespace = "";
   if (_sdf->HasElement("robotNamespace")) {
     this->robot_namespace = _sdf->GetElement("robotNamespace")->Get<std::string>();
@@ -31,6 +26,15 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
 
 //Update the joints at every simulation iteration
 void HebirosGazeboPlugin::OnUpdate(const common::UpdateInfo & _info) {
+
+  if (this->first_sim_iteration) {
+    this->first_sim_iteration = false;
+    this->add_group_srv =
+      this->n->advertiseService<AddGroupFromNamesSrv::Request, AddGroupFromNamesSrv::Response>(
+      "/hebiros_gazebo_plugin/add_group", boost::bind(
+      &HebirosGazeboPlugin::SrvAddGroup, this, _1, _2));
+  }
+
   ros::Time current_time = ros::Time::now();
 
   for (auto group_pair : hebiros_groups) {