diff --git a/buzz_scripts/include/barrier.bzz b/buzz_scripts/include/barrier.bzz
index 88fe411..3a029b0 100644
--- a/buzz_scripts/include/barrier.bzz
+++ b/buzz_scripts/include/barrier.bzz
@@ -30,7 +30,7 @@ function barrier_create() {
 
 function barrier_set(threshold, transf, resumef, bdt) {
   statef = function() {
-    barrier_wait(threshold, transf, resumef);
+    barrier_wait(threshold, transf, resumef, bdt);
   }
   UAVSTATE = "BARRIERWAIT"
   barrier_create()
diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index d0ae31a..ed9ef9b 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -356,7 +356,7 @@ namespace buzzuav_closures{
     if(fabs(rb[0])<150.0)
 		  rc_set_goto((int)buzz_utility::get_robotid(), goal[0], goal[1], goal[2]);
 
-		ROS_WARN("DEBUG ---- %f %f %f (%f %f) %f %f",goal[0],goal[1],goal[2],cur_pos[0],cur_pos[1],rb[0],rb[1]);
+	  ROS_WARN("Set RC_GOTO ---- %f %f %f (%f %f, %f %f)",goal[0],goal[1],goal[2],cur_pos[0],cur_pos[1],rb[0],rb[1]);
 	  return buzzvm_ret0(vm);
 	}