diff --git a/config/box_filter.yaml b/config/box_filter.yaml
index 7837058..dd72f01 100644
--- a/config/box_filter.yaml
+++ b/config/box_filter.yaml
@@ -1,15 +1,13 @@
-scan_to_scan_filter_chain:
-  ros__parameters:
-    filter1:
-      name: box_filter
-      type: laser_filters/LaserScanBoxFilter
-      params:
-        box_frame: laser #laser_frame
-        max_x: 0.80 #was 0.16
-        max_y: 0.18 #was 0.17
-        max_z: 0.1
-        min_x: -0.15 #was -0.41
-        min_y: -0.18 # was -0.17
-        min_z: -0.2
-        
-        invert: false # activate to remove all points outside of the box
\ No newline at end of file
+scan_filter_chain:
+- name: box_filter
+  type: laser_filters/LaserScanBoxFilter
+  params:
+    box_frame: laser #laser_frame
+    max_x: 0.80 #was 0.16
+    max_y: 0.18 #was 0.17
+    max_z: 0.1
+    min_x: -0.15 #was -0.41
+    min_y: -0.18 # was -0.17
+    min_z: -0.2
+    
+    invert: false # activate to remove all points outside of the box
\ No newline at end of file