diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index c50ffda..8cbe916 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -13,7 +13,7 @@ slam_toolbox:
     odom_frame: odom
     map_frame: map
     base_frame: base_footprint
-    scan_topic: /scan
+    scan_topic: scan_filtered
     mode: localization
 
     # if you'd like to immediately start continuing a map at a given pose