diff --git a/mg_bt/behavior_trees/calib_bt.xml b/mg_bt/behavior_trees/calib_bt.xml
index 0259d06..6d423b3 100644
--- a/mg_bt/behavior_trees/calib_bt.xml
+++ b/mg_bt/behavior_trees/calib_bt.xml
@@ -4,7 +4,7 @@
     <Sequence>
       <SetBlackboard value="0.31133"
                      output_key="width"/>
-      <Delay delay_msec="20000">
+      <Delay delay_msec="10000">
         <Repeat num_cycles="5">
           <Sequence>
             <ZeroNode service_name="/zero"/>
@@ -20,7 +20,7 @@
             <RotateNode angle="0"
                         action_name="/Rotate"/>
             <Fallback>
-              <Timeout msec="10000">
+              <Timeout msec="20000">
                 <MovePoint action_name="/MovePoint"
                            max_angular="0.1"
                            x_goal="-0.1"
diff --git a/mg_bt/src/tree_nodes/calib.hpp b/mg_bt/src/tree_nodes/calib.hpp
index cd6511d..dd0bdcc 100644
--- a/mg_bt/src/tree_nodes/calib.hpp
+++ b/mg_bt/src/tree_nodes/calib.hpp
@@ -29,7 +29,7 @@ namespace mg {
 
             RCLCPP_INFO(logger(), "Setting width to: %lf", new_width);
 
-            request->set__data(count);
+            request->set__data(new_width);
             setOutput("Count", new_width);
             return true;
         }