diff --git a/package.xml b/package.xml
index 6c2e131..f1e3636 100644
--- a/package.xml
+++ b/package.xml
@@ -33,10 +33,12 @@
   <build_depend>rospy</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
 
   <exec_depend>rospy</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
diff --git a/scripts/map_changer b/scripts/map_changer
index 52e0b11..da454c2 100755
--- a/scripts/map_changer
+++ b/scripts/map_changer
@@ -44,17 +44,13 @@
 
 
     def change_map_service_call(self):
-        rospy.wait_for_service("/request_nomotion_update")
-        res = self.amcl_update()
-        rospy.sleep(0.5)
+        self.update_amcl_call()
         rospy.wait_for_service("/change_map")
         try:
             res = self.change_map(str(self.multimap_dir / Path("map{}.yaml".format(self.current_map_num))))
             if res.result == 0:
                 rospy.loginfo("Successfully changed the map")
-                rospy.wait_for_service("/request_nomotion_update")
-                res = self.amcl_update()
-                rospy.sleep(0.5)
+                self.update_amcl_call()
                 return True
             else:
                 rospy.logerr("Failed to change the map: result=", res.result)
@@ -62,6 +58,13 @@
         except rospy.ServiceException:
             rospy.logerr("Change map service call failed")
         return False
+    
+
+    def update_amcl_call(self):
+        rospy.wait_for_service("/request_nomotion_update")
+        for i in range(0,5):
+            self.amcl_update()
+            rospy.sleep(0.5)