diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py
index 91e48c0..56fe04c 100755
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -73,7 +73,7 @@ class BtSimNode:
             SwitchController,
             self.switch_controller,
         )
-        rospy.Service("get_target_seg_id", Trigger, self.get_target_seg_id)
+        rospy.Service("get_target_seg_id", TargetID, self.get_target_seg_id)
 
     def seed(self, req):
         self.sim.seed(req.seed)
@@ -88,10 +88,10 @@ class BtSimNode:
         self.activate_plugins()
         return ResetResponse(to_bbox_msg(bbox))
     
-    def seed(self, req):
-        self.sim.seed(req.seed)
-        rospy.loginfo(f"Seeded the rng with {req.seed}.")
-        return SeedResponse()
+    def get_target_seg_id(self, req):
+        response = TargetIDResponse()
+        response.id = self.sim.select_target()
+        return response
 
     def switch_controller(self, req):
         for controller in req.stop_controllers: