diff --git a/launch/linus_amcl.launch b/launch/linus_amcl.launch
index 9d8dab1..79dd787 100644
--- a/launch/linus_amcl.launch
+++ b/launch/linus_amcl.launch
@@ -49,13 +49,13 @@
     <!-- odom paramters: may raise alphas to compensate for bad odometry-->
     <param name="odom_model_type"           value="diff"/>  
     <!-- <param name="odom_alpha1"               value="0.1"/> -->
-    <param name="odom_alpha1"               value="0.2"/>    
+    <param name="odom_alpha1"               value="1.0"/>    
     <!-- <param name="odom_alpha2"               value="0.1"/> -->
-    <param name="odom_alpha2"               value="0.2"/>    
+    <param name="odom_alpha2"               value="1.0"/>    
     <!-- <param name="odom_alpha3"               value="0.1"/>  -->
-    <param name="odom_alpha3"               value="0.8"/> 
+    <param name="odom_alpha3"               value="3.0"/> 
     <!-- <param name="odom_alpha4"               value="0.1"/> -->
-    <param name="odom_alpha4"               value="0.2"/>
+    <param name="odom_alpha4"               value="1.0"/>
     <param name="odom_frame_id"             value="odom"/> 
     <param name="base_frame_id"             value="base_link"/> 
    <!--