diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 8901149..dff7ab4 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -357,6 +357,6 @@ velocity_smoother:
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
     odom_topic: "/odometry/filtered"
-    odom_duration: 0.1
+    odom_duration: 0.01 # was 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0
\ No newline at end of file