diff --git a/src/modelec_strat/data/obstacles.xml b/src/modelec_strat/data/obstacles.xml
index e1e2905..5f9b353 100644
--- a/src/modelec_strat/data/obstacles.xml
+++ b/src/modelec_strat/data/obstacles.xml
@@ -5,22 +5,22 @@
-
+
-
+
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index 2bd04cb..5bf199e 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -55,7 +55,7 @@ namespace Modelec
case GO_TO_FRONT:
{
- nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 150, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+ nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_FORWARD;
}
diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index a79dc43..a2a80ce 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -580,6 +580,10 @@ namespace Modelec
bool NavigationHelper::EnemyOnPath(const modelec_interfaces::msg::OdometryPos msg)
{
+ if (!current_pos_) {
+ return false;
+ }
+
auto curr = Waypoint(*current_pos_, -1, false);
std::vector waypointsList;
waypointsList.push_back(curr);