diff --git a/src/main.cpp b/src/main.cpp
index d4954dc..47c1067 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -203,7 +203,7 @@ private:
         last_imu_t_=now;latest_gyro_z_=m->angular_velocity.z;
         if(dt>0&&dt<1.0)localizer_.updateIMU(latest_gyro_z_,dt);}
     void goal_cb(PoseStMsg::SharedPtr m){std::lock_guard lk(mtx_);
-        if(m->header.frame_id!="map"){RCLCPP_WARN(get_logger(),"goal frame not map");return;}
+        if(m->header.frame_id!="map"){RCLCPP_WARN(get_logger(),"goal frame not map: '%s'",m->header.frame_id.c_str());return;}
         Pose2D g(m->pose.position.x,m->pose.position.y,0.0);
         double qw=m->pose.orientation.w,qz=m->pose.orientation.z;
         if(qw!=0||qz!=0)g.yaw=std::atan2(2.0*qw*qz,qw*qw-qz*qz);
@@ -248,13 +248,12 @@ private:
 
     void tick(){
         std::lock_guard lk(mtx_);
+        auto pose=localizer_.pose();publish_tf(pose);
         // CALIBRATING: force zero cmd, wait for fence model
         if (session_state_ == CALIBRATING) {
-            auto zero = geometry_msgs::msg::Twist();
-            pub_cmd_->publish(zero);
+            pub_cmd_->publish(geometry_msgs::msg::Twist());
             return;
         }
-        auto pose=localizer_.pose();publish_tf(pose);
         // READY: only update scan if dynamic obstacles enabled
         if(has_scan_ && dynamic_obstacle_enable_)
             map_.updateScan(latest_scan_,pose);
diff --git a/src/session_mapper.cpp b/src/session_mapper.cpp
index 00c45f1..da37e19 100644
--- a/src/session_mapper.cpp
+++ b/src/session_mapper.cpp
@@ -89,12 +89,16 @@ bool SessionMapper::build(FenceModel& fence, std::vector<Eigen::Vector2d>& cones
     double y_min = ys[lo_idx], y_max = ys[hi_idx];
     double w = x_max - x_min, h = y_max - y_min;
 
-    // Validate size
+    // Validate size — allow known-size fallback if partial fence
     if (std::abs(w - expected_size) > size_tol ||
         std::abs(h - expected_size) > size_tol) {
-        fprintf(stderr, "[SessionMapper] size mismatch: %.2fx%.2f (expected %.1f±%.1f)\n",
-                w, h, expected_size, size_tol);
-        return false;
+        fprintf(stderr, "[SessionMapper] partial fence %.2fx%.2f, fallback to known %.1fx%.1f\n",
+                w, h, expected_size, expected_size);
+        // Use known field size centered at origin with estimated yaw
+        double half = expected_size / 2.0;
+        x_min = -half; x_max = half;
+        y_min = -half; y_max = half;
+        w = h = expected_size;
     }
 
     fence.width = w; fence.height = h;