diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index 2e74591..f0425e1 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/missions/test.go_home_mission.cpp b/src/modelec_strat/src/missions/test.go_home_mission.cpp
index 478be15..6263e99 100644
--- a/src/modelec_strat/src/missions/test.go_home_mission.cpp
+++ b/src/modelec_strat/src/missions/test.go_home_mission.cpp
@@ -20,7 +20,7 @@ namespace Modelec
         auto curr = nav_->GetCurrentPos();
         RCLCPP_INFO(node_->get_logger(), "GoHomeMission: Starting at position (%f, %f)", curr->x, curr->y);
 
-        nav_->GoTo(375, 1200, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+        nav_->GoTo(375, 1000, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
         go_home_time_ = node_->now();