diff --git a/build.zsh b/build.zsh
index fd96718..c697a33 100755
--- a/build.zsh
+++ b/build.zsh
@@ -1,3 +1,7 @@
+#!/bin/zsh
+source /opt/ros/jazzy/setup.zsh
+source install/setup.zsh
+
 colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug
 
 source "install/setup.zsh"
diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index be32d5e..1c6ba38 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -163,10 +163,10 @@
     </ihm>
     <odo>
         <pid>
-            <left p="5" i="0.5" d="0.5" />
-            <right p="5" i="0.5" d="0.5" />
-            <pos p="4" i="0" d="0.0" />
-            <theta p="5" i="1" d="0.0" />
+            <left p="4.5" i="2.0" d="2.0" />
+            <right p="4.5" i="2.0" d="2.0" />
+            <pos p="3" i="0.0" d="0.0" />
+            <theta p="13" i="0.0" d="0.0" />
         </pid>
     </odo>
 </config>