diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 1ba776b..b8da8ff 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -191,7 +191,8 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.05
-      robot_radius: 0.22
+      #robot_radius: 0.22
+      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
       plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
@@ -230,7 +231,8 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22
+      #robot_radius: 0.22
+      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
       resolution: 0.05
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]