diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp
index c79d9bf..f7104c8 100644
--- a/src/modelec_com/src/pcb_odo_interface.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.cpp
@@ -274,6 +274,10 @@ namespace Modelec
                 bool success = true;
                 ResolveSetPIDRequest(success);
             }
+            else if (tokens[1] == "POS")
+            {
+                // position set
+            }
             else
             {
                 RCLCPP_INFO(this->get_logger(), "PCB response: %s", msg->data.c_str());
diff --git a/src/modelec_gui/include/modelec_gui/pages/home_page.hpp b/src/modelec_gui/include/modelec_gui/pages/home_page.hpp
index bb61bdb..1336c33 100644
--- a/src/modelec_gui/include/modelec_gui/pages/home_page.hpp
+++ b/src/modelec_gui/include/modelec_gui/pages/home_page.hpp
@@ -8,6 +8,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_msgs/msg/int8.hpp>
+#include <std_msgs/msg/empty.hpp>
 
 namespace ModelecGUI
 {
@@ -18,6 +19,8 @@ namespace ModelecGUI
     public:
         HomePage(rclcpp::Node::SharedPtr node, QWidget* parent = nullptr);
 
+        void Init();
+
     public slots:
         void onYellowButtonClicked();
 
@@ -31,7 +34,8 @@ namespace ModelecGUI
 
         rclcpp::Node::SharedPtr node_;
 
-        rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr team_publisher_;
+        rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr team_pub_;
+        rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr reset_strat_pub_;
 
         QVBoxLayout* v_layout_;
         QHBoxLayout* h_layout_;
diff --git a/src/modelec_gui/include/modelec_gui/pages/map_page.hpp b/src/modelec_gui/include/modelec_gui/pages/map_page.hpp
index bd690f0..27c5082 100644
--- a/src/modelec_gui/include/modelec_gui/pages/map_page.hpp
+++ b/src/modelec_gui/include/modelec_gui/pages/map_page.hpp
@@ -33,6 +33,10 @@ namespace ModelecGUI {
 
         rclcpp::Node::SharedPtr get_node() const { return node_; }
 
+        void AskMap();
+
+        void Reset();
+
     protected:
         void paintEvent(QPaintEvent*) override;
 
@@ -42,6 +46,8 @@ namespace ModelecGUI {
 
         void resizeEvent(QResizeEvent* event) override;
 
+        rclcpp::TimerBase::SharedPtr reset_timer_;
+
         QSvgRenderer* renderer;
 
         QVBoxLayout* v_layout;
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 834b4cc..ffb6ce3 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
@@ -39,6 +39,8 @@ namespace ModelecGUI {
 
         void toggleShowObstacle();
 
+        void AskMap();
+
     protected:
         void paintEvent(QPaintEvent*) override;
 
diff --git a/src/modelec_gui/src/modelec_gui.cpp b/src/modelec_gui/src/modelec_gui.cpp
index 8a7e8eb..4936e19 100644
--- a/src/modelec_gui/src/modelec_gui.cpp
+++ b/src/modelec_gui/src/modelec_gui.cpp
@@ -61,6 +61,8 @@ namespace ModelecGUI {
 
         connect(home_action_, &QAction::triggered, this, [this]() {
             stackedWidget->setCurrentIndex(0);
+            home_page_->Init();
+            map_page_->Reset();
         });
 
         connect(odo_action_, &QAction::triggered, this, [this]() {
diff --git a/src/modelec_gui/src/pages/home_page.cpp b/src/modelec_gui/src/pages/home_page.cpp
index 0b015b2..e8a2c84 100644
--- a/src/modelec_gui/src/pages/home_page.cpp
+++ b/src/modelec_gui/src/pages/home_page.cpp
@@ -33,17 +33,24 @@ namespace ModelecGUI
 
         setLayout(v_layout_);
 
-        team_publisher_ = node_->create_publisher<std_msgs::msg::Int8>("/strat/team", 10);
+        team_pub_ = node_->create_publisher<std_msgs::msg::Int8>("/strat/team", 10);
+
+        reset_strat_pub_ = node_->create_publisher<std_msgs::msg::Empty>("/strat/reset", 10);
 
         connect(yellow_button_, &QPushButton::clicked, this, &HomePage::onYellowButtonClicked);
         connect(blue_button_, &QPushButton::clicked, this, &HomePage::onBlueButtonClicked);
     }
 
+    void HomePage::Init()
+    {
+        reset_strat_pub_->publish(std_msgs::msg::Empty());
+    }
+
     void HomePage::onYellowButtonClicked()
     {
         std_msgs::msg::Int8 msg;
         msg.data = 0;
-        team_publisher_->publish(msg);
+        team_pub_->publish(msg);
 
         emit TeamChoose();
     }
@@ -52,7 +59,7 @@ namespace ModelecGUI
     {
         std_msgs::msg::Int8 msg;
         msg.data = 1;
-        team_publisher_->publish(msg);
+        team_pub_->publish(msg);
 
         emit TeamChoose();
     }
diff --git a/src/modelec_gui/src/pages/map_page.cpp b/src/modelec_gui/src/pages/map_page.cpp
index 162a656..0f74aa6 100644
--- a/src/modelec_gui/src/pages/map_page.cpp
+++ b/src/modelec_gui/src/pages/map_page.cpp
@@ -146,6 +146,37 @@ namespace ModelecGUI
         rclcpp::spin_until_future_complete(node_->get_node_base_interface(), result2);
     }
 
+    void MapPage::AskMap()
+    {
+        reset_timer_ = node_->create_wall_timer(
+        std::chrono::seconds(1),
+        [this]() {
+
+            ask_map_obstacle_client_ = node_->create_client<std_srvs::srv::Empty>("nav/ask_map_obstacle");
+            while (!ask_map_obstacle_client_->wait_for_service(std::chrono::seconds(1))) {
+                if (!rclcpp::ok()) {
+                    RCLCPP_ERROR(node_->get_logger(), "Interrupted while waiting for the service. Exiting.");
+                    return;
+                }
+                RCLCPP_INFO(node_->get_logger(), "Waiting for the service...");
+            }
+
+            ask_map_obstacle_client_->async_send_request(std::make_shared<std_srvs::srv::Empty::Request>());
+
+            reset_timer_->cancel();
+        });
+    }
+
+    void MapPage::Reset()
+    {
+        isGameStarted_ = false;
+        lastWapointWasEnd = true;
+
+        qpoints.clear();
+
+        AskMap();
+    }
+
     void MapPage::paintEvent(QPaintEvent* paint_event)
     {
         QWidget::paintEvent(paint_event);
@@ -226,7 +257,7 @@ namespace ModelecGUI
 
     void MapPage::OnObstacleReceived(const modelec_interfaces::msg::Obstacle::SharedPtr msg)
     {
-        obstacle_.emplace(msg->id, *msg);
+        obstacle_[msg->id] = *msg;
     }
 
     void MapPage::resizeEvent(QResizeEvent* event)
diff --git a/src/modelec_gui/src/pages/test_map_page.cpp b/src/modelec_gui/src/pages/test_map_page.cpp
index 0b5fb91..008c307 100644
--- a/src/modelec_gui/src/pages/test_map_page.cpp
+++ b/src/modelec_gui/src/pages/test_map_page.cpp
@@ -170,6 +170,11 @@ namespace ModelecGUI
         show_obstacle_ = !show_obstacle_;
     }
 
+    void TestMapPage::AskMap()
+    {
+        ask_map_obstacle_client_->async_send_request(std::make_shared<std_srvs::srv::Empty::Request>());
+    }
+
     void TestMapPage::paintEvent(QPaintEvent* paint_event)
     {
         QWidget::paintEvent(paint_event);
diff --git a/src/modelec_strat/include/modelec_strat/pami_manager.hpp b/src/modelec_strat/include/modelec_strat/pami_manager.hpp
index 4751a76..7a69109 100644
--- a/src/modelec_strat/include/modelec_strat/pami_manager.hpp
+++ b/src/modelec_strat/include/modelec_strat/pami_manager.hpp
@@ -10,6 +10,7 @@
 #include <tinyxml2.h>
 
 #include <std_msgs/msg/int64.hpp>
+#include <std_msgs/msg/empty.hpp>
 
 namespace Modelec {
 
@@ -40,6 +41,7 @@ namespace Modelec {
         rclcpp::Publisher<modelec_interfaces::msg::Obstacle>::SharedPtr add_obs_pub_;
         rclcpp::Publisher<modelec_interfaces::msg::Obstacle>::SharedPtr remove_obs_pub_;
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
+        rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr reset_strat_sub_;
     };
 
 }
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/strat_fms.hpp b/src/modelec_strat/include/modelec_strat/strat_fms.hpp
index bc4ba53..21f54ed 100644
--- a/src/modelec_strat/include/modelec_strat/strat_fms.hpp
+++ b/src/modelec_strat/include/modelec_strat/strat_fms.hpp
@@ -17,6 +17,7 @@
 #include <modelec_interfaces/msg/strat_state.hpp>
 
 #include <modelec_interfaces/srv/odometry_start.hpp>
+#include <std_msgs/msg/empty.hpp>
 
 
 namespace Modelec
@@ -41,6 +42,8 @@ namespace Modelec
 
         void Init();
 
+        void Reset();
+
     protected:
         void transition(State next, const std::string& reason);
 
@@ -51,6 +54,7 @@ namespace Modelec
         rclcpp::TimerBase::SharedPtr timer_;
         rclcpp::Time match_start_time_;
         bool started_ = false;
+        bool setup_ = false;
         std::unique_ptr<Mission> current_mission_;
         int team_id_ = 0;
 
@@ -62,6 +66,7 @@ namespace Modelec
         rclcpp::Publisher<modelec_interfaces::msg::StratState>::SharedPtr state_pub_;
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr start_time_pub_;
         rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr team_id_sub_;
+        rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr reset_strat_sub_;
 
         rclcpp::Client<modelec_interfaces::srv::OdometryStart>::SharedPtr client_start_;
     };
diff --git a/src/modelec_strat/src/pami_manager.cpp b/src/modelec_strat/src/pami_manager.cpp
index 82be537..f593f26 100644
--- a/src/modelec_strat/src/pami_manager.cpp
+++ b/src/modelec_strat/src/pami_manager.cpp
@@ -73,6 +73,13 @@ namespace Modelec
             "obstacle/remove", 10);
 
         score_pub_ = create_publisher<std_msgs::msg::Int64>("/strat/score", 10);
+
+        reset_strat_sub_ = create_subscription<std_msgs::msg::Empty>(
+            "/strat/reset", 10, [this](const std_msgs::msg::Empty::SharedPtr)
+            {
+                timer_add_->cancel();
+                timer_remove_->cancel();
+            });
     }
 
     bool PamiManger::ReadFromXML(const std::string& filename)
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 148a991..cf6f259 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -5,12 +5,12 @@
 namespace Modelec
 {
 
-    StratFMS::StratFMS() : Node("start_fms"), state_(State::INIT)
+    StratFMS::StratFMS() : Node("start_fms")
     {
         tirette_sub_ = create_subscription<std_msgs::msg::Bool>(
             "/tirette", 10, [this](const std_msgs::msg::Bool::SharedPtr msg)
             {
-                if (!started_ && msg->data)
+                if (setup_ && !started_ && msg->data)
                 {
                     started_ = true;
                 }
@@ -23,11 +23,19 @@ namespace Modelec
         team_id_sub_ = create_subscription<std_msgs::msg::Int8>(
             "/strat/team", 10, [this](const std_msgs::msg::Int8::SharedPtr msg)
             {
+                setup_ = true;
                 team_id_ = static_cast<int>(msg->data);
                 nav_->SetTeamId(team_id_);
                 nav_->SetSpawn();
             });
 
+        reset_strat_sub_ = create_subscription<std_msgs::msg::Empty>(
+            "/strat/reset", 10, [this](const std_msgs::msg::Empty::SharedPtr)
+            {
+                RCLCPP_INFO(get_logger(), "Resetting strat");
+                Reset();
+            });
+
         client_start_ = create_client<modelec_interfaces::srv::OdometryStart>("/odometry/start");
         while (!client_start_->wait_for_service(std::chrono::seconds(1))) {
             if (!rclcpp::ok()) {
@@ -61,12 +69,25 @@ namespace Modelec
 
         RCLCPP_INFO(this->get_logger(), "StratFMS fully initialized");
 
+        state_ = State::INIT;
+        started_ = false;
+        setup_ = false;
+        current_mission_.reset();
+        match_start_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
+
         timer_ = create_wall_timer(std::chrono::milliseconds(100), [this]
         {
             update();
         });
     }
 
+    void StratFMS::Reset()
+    {
+        timer_->cancel();
+
+        Init();
+    }
+
     void StratFMS::transition(State next, const std::string& reason)
     {
         RCLCPP_INFO(get_logger(), "Transition %d -> %d: %s", static_cast<int>(state_), static_cast<int>(next),
@@ -88,7 +109,6 @@ namespace Modelec
             RCLCPP_INFO_ONCE(get_logger(), "State: INIT");
             transition(State::WAIT_START, "System ready");
             break;
-
         case State::WAIT_START:
             if (started_)
             {