diff --git a/aos/starter/starter_rpc_lib.cc b/aos/starter/starter_rpc_lib.cc
index 884367d..15132ec 100644
--- a/aos/starter/starter_rpc_lib.cc
+++ b/aos/starter/starter_rpc_lib.cc
@@ -138,8 +138,11 @@
                         "node name.";
         }
       }
-      CHECK(status_fetchers_[node_name].get() != nullptr)
-          << ": No status available for node " << node_name;
+      if (status_fetchers_[node_name].get() == nullptr) {
+        LOG(WARNING) << ": No status available for node " << node_name
+                     << "; not executing commands for that node.";
+        continue;
+      }
       if (is_multi_node) {
         node_offsets.push_back(builder.fbb()->CreateString(node_name));
       }
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 6b04963..6a263d3 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -118,13 +118,13 @@
           7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
           0.0143810684138064 + 0.00945555248207735;
 
-      roll_joint->zeroing.measured_absolute_position = 1.88759815823151;
+      roll_joint->zeroing.measured_absolute_position = 1.7490367887908;
       roll_joint->potentiometer_offset =
           0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
-          0.0257708772364788 - 0.0395076737853459;
+          0.0257708772364788 - 0.0395076737853459 - 6.87914956118006;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.627578012126286;
+          2.51265911579648;
 
       break;
 
diff --git a/y2023/vision/localization_verifier.cc b/y2023/vision/localization_verifier.cc
index a85ca05..3b366fa 100644
--- a/y2023/vision/localization_verifier.cc
+++ b/y2023/vision/localization_verifier.cc
@@ -58,6 +58,9 @@
         H_field_robot * H_robot_camera * H_camera_target;
 
     LOG(INFO) << "Field to target " << target_pose->id();
+    LOG(INFO) << "H_field_robot " << H_field_robot;
+    LOG(INFO) << "H_robot_camera " << H_robot_camera;
+    LOG(INFO) << "H_camera_target " << H_camera_target;
     LOG(INFO) << "Transform: " << H_field_target;
     LOG(INFO) << "Translation: "
               << Eigen::Affine3d(H_field_target).translation();
@@ -87,11 +90,11 @@
     const std::string_view pi_name =
         camera->calibration()->node_name()->string_view();
     event_loop.MakeWatcher(absl::StrCat("/", pi_name, "/camera"),
-                           [&](const frc971::vision::TargetMap &target_map) {
+                           [H_robot_camera, &localizer_fetcher](
+                               const frc971::vision::TargetMap &target_map) {
                              HandleDetections(target_map, H_robot_camera,
                                               &localizer_fetcher);
                            });
-
   }
   event_loop.Run();
 }