diff --git a/src/modelec_gui/include/modelec_gui/pages/test_map_page.hpp b/src/modelec_gui/include/modelec_gui/pages/test_map_page.hpp
index 34acacf..6e03805 100644
--- a/src/modelec_gui/include/modelec_gui/pages/test_map_page.hpp
+++ b/src/modelec_gui/include/modelec_gui/pages/test_map_page.hpp
@@ -43,6 +43,8 @@ namespace ModelecGUI
 
         void AskMap();
 
+        void StartLidar();
+
     protected:
         void paintEvent(QPaintEvent*) override;
 
@@ -87,6 +89,8 @@ namespace ModelecGUI
         rclcpp::Subscription<modelec_interfaces::msg::Obstacle>::SharedPtr obstacle_removed_sub_;
         rclcpp::Client<std_srvs::srv::Empty>::SharedPtr ask_map_obstacle_client_;
 
+        rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr start_lidar_pub_;
+
         modelec_interfaces::msg::OdometryPos enemy_pos_;
         bool hasEnemy = false;
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_pos_pub_;
diff --git a/src/modelec_gui/src/modelec_gui.cpp b/src/modelec_gui/src/modelec_gui.cpp
index a4bb27b..a84aa16 100644
--- a/src/modelec_gui/src/modelec_gui.cpp
+++ b/src/modelec_gui/src/modelec_gui.cpp
@@ -88,6 +88,7 @@ namespace ModelecGUI {
 
         connect(map_action_, &QAction::triggered, this, [this]() {
             stackedWidget->setCurrentWidget(test_map_page_);
+            test_map_page_->StartLidar();
         });
 
         connect(playmat_map_, &QAction::triggered, this, [this]() {
diff --git a/src/modelec_gui/src/pages/test_map_page.cpp b/src/modelec_gui/src/pages/test_map_page.cpp
index fa14233..09514b5 100644
--- a/src/modelec_gui/src/pages/test_map_page.cpp
+++ b/src/modelec_gui/src/pages/test_map_page.cpp
@@ -137,6 +137,8 @@ namespace ModelecGUI
 
         auto result2 = ask_map_obstacle_client_->async_send_request(std::make_shared<std_srvs::srv::Empty::Request>());
         rclcpp::spin_until_future_complete(node_->get_node_base_interface(), result2);
+
+        start_lidar_pub_ = node_->create_publisher<std_msgs::msg::Bool>("lidar/start", 10);
     }
 
     void TestMapPage::setPlaymatGrid()
@@ -161,6 +163,12 @@ namespace ModelecGUI
         ask_map_obstacle_client_->async_send_request(std::make_shared<std_srvs::srv::Empty::Request>());
     }
 
+    void TestMapPage::StartLidar() {
+        auto msg = std_msgs::msg::Bool();
+        msg.data = true;
+        start_lidar_pub_->publish(msg);
+    }
+
     void TestMapPage::paintEvent(QPaintEvent* paint_event)
     {
         QWidget::paintEvent(paint_event);
diff --git a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
index 49844d7..2daa6f5 100644
--- a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
+++ b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
@@ -5,6 +5,7 @@
 #include <modelec_interfaces/msg/odometry_pos.hpp>
 #include <modelec_interfaces/msg/strat_state.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
+#include <std_msgs/msg/bool.hpp>
 
 namespace Modelec
 {
@@ -27,6 +28,7 @@ namespace Modelec
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_pos_pub_;
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr close_enemy_pos_pub_;
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_long_time_pub_;
+        rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr start_sub_;
 
         rclcpp::TimerBase::SharedPtr timer_;
 
diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index 5a18635..e53123f 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -71,6 +71,14 @@ namespace Modelec
         enemy_long_time_pub_ = this->create_publisher<modelec_interfaces::msg::OdometryPos>(
             "/enemy/long_time", 10);
 
+        start_sub_ = this->create_subscription<std_msgs::msg::Bool>(
+            "/lidar/start", 10,
+            [this](const std_msgs::msg::Bool::SharedPtr msg)
+            {
+                game_stated_ = msg->data;
+                RCLCPP_INFO(this->get_logger(), "Game started state changed: %s", game_stated_ ? "true" : "false");
+            });
+
         timer_ = this->create_wall_timer(
             std::chrono::nanoseconds(static_cast<int>(refresh_rate_s_ )),
             [this]()
@@ -89,11 +97,11 @@ namespace Modelec
 
     void EnemyManager::OnLidarData(const sensor_msgs::msg::LaserScan::SharedPtr msg)
     {
-        /*if (!game_stated_)
+        if (!game_stated_)
         {
             RCLCPP_INFO(this->get_logger(), "Game not started, ignoring Lidar data");
             return;
-        }*/
+        }
 
         is_enemy_close_ = false;