diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 14fe6e4..81aed33 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -44,7 +44,7 @@ bt_navigator:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    odom_topic: /odom
+    odom_topic: /odometry/filtered
     bt_loop_duration: 10
     default_server_timeout: 20
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@@ -342,7 +342,7 @@ velocity_smoother:
     min_velocity: [-0.26, 0.0, -1.0]
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
-    odom_topic: "odom"
+    odom_topic: "/odometry/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0
\ No newline at end of file