diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index f0425e1..2e74591 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -219,7 +219,7 @@ namespace Modelec
                 last_enemy_pos_ = enemy_pos;
                 last_publish_time_ = this->now();
                 last_movement_time_ = this->now(); // Mise à jour du dernier vrai mouvement
-                enemy_pos_pub_->publish(enemy_pos);
+                // enemy_pos_pub_->publish(enemy_pos);
                 // RCLCPP_INFO(this->get_logger(), "Enemy moved: x=%f, y=%f", enemy_pos.x, enemy_pos.y);
             }
             else
@@ -227,7 +227,7 @@ namespace Modelec
                 auto now = this->now();
                 if ((now - last_movement_time_).seconds() > max_stationary_time_s_)
                 {
-                    enemy_long_time_pub_->publish(last_enemy_pos_);
+                    // enemy_long_time_pub_->publish(last_enemy_pos_);
                     /*RCLCPP_WARN(this->get_logger(), "Enemy has been stationary for too long at x=%f y=%f",
                                 last_enemy_pos_.x, last_enemy_pos_.y);*/
 
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 51077f1..d2081e9 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -163,7 +163,10 @@ namespace Modelec
                 {
                     Transition(State::DO_PROMOTION, "Start promotion");
                 }*/
-                Transition(State::DO_GO_HOME, "Go Home");
+                if (elapsed.seconds() >= 2)
+                {
+                    Transition(State::DO_GO_HOME, "Go Home");
+                }
                 // TODO : check the time needed by the mission
                 /*else if (elapsed.seconds() < 70)
                 {