diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 558d81e..b3b011e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -113,9 +113,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
-    scan_topic: scan
-    set_initial_pose: true
-    initial_pose: {x: -66.2, y: -24.5, z: 0.0, yaw: 0.0}
+    scan_topic: scan_filtered
 
 bt_navigator:
   ros__parameters: