diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 1a88fd5..ab5b72f 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -14,7 +14,7 @@ amcl:
     global_frame_id: "map"
     lambda_short: 0.1
     laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
+    laser_max_range: -1.0 # was 100 before: setting now to laser reported range (8m)
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     max_beams: 60
@@ -194,8 +194,8 @@ controller_server:
 local_costmap:
   local_costmap:
     ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
+      update_frequency: 10.0 # was 5.0
+      publish_frequency: 5.0 # was 2.0
       global_frame: odom
       robot_base_frame: base_link
       use_sim_time: True
@@ -229,7 +229,7 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 3.0
+          raytrace_max_range: 8.0 # was 3.0
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
@@ -264,7 +264,7 @@ global_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 3.0
+          raytrace_max_range: 8.0 # was 3.0
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0