diff --git a/config/diffbot_controllers.yaml b/config/diffbot_controllers.yaml
index 6e51218..842acf8 100644
--- a/config/diffbot_controllers.yaml
+++ b/config/diffbot_controllers.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    update_rate: 30  # Hz was 100 vefore
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
@@ -24,7 +24,7 @@ diffbot_base_controller:
     left_wheel_radius_multiplier: -1.0
     right_wheel_radius_multiplier: 1.0
 
-    publish_rate: 100.0
+    publish_rate: 50.0 # was 100 before
     odom_frame_id: odom
     base_frame_id: base_link
     # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]