diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index d0f2cd4..b4bb56b 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -13,8 +13,8 @@ slam_toolbox:
     odom_frame: odom
     map_frame: map
     base_frame: base_footprint
-    scan_topic: scan
-    #scan_topic: /scan_filtered
+    #scan_topic: scan
+    scan_topic: scan_filtered
     use_map_saver: true
     mode: mapping #localization
 
@@ -113,7 +113,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
-    scan_topic: scan
+    scan_topic: scan_filtered
 
 bt_navigator:
   ros__parameters:
@@ -332,7 +332,7 @@ local_costmap:
         mark_threshold: 0
         observation_sources: scan
         scan:
-          topic: scan
+          topic: scan_filtered
           max_obstacle_height: 2.0
           clearing: True
           marking: True
@@ -364,7 +364,7 @@ global_costmap:
         enabled: True
         observation_sources: scan
         scan:
-          topic: scan
+          topic: scan_filtered
           max_obstacle_height: 2.0
           clearing: True
           marking: True