diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index e438dc8..74a929e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -546,7 +546,7 @@ global_costmap:
       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", "denoise_layer", "stvl_layer"]
+      plugins: ["static_layer", "inflation_layer", "denoise_layer", "stvl_layer"] # remove "obstacle_layer",
       stvl_layer:
         plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
         enabled: true
@@ -587,20 +587,20 @@ global_costmap:
       denoise_layer:
         plugin: "nav2_costmap_2d::DenoiseLayer"
         enabled: True
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 8.0 # was 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
+      # obstacle_layer:
+      #   plugin: "nav2_costmap_2d::ObstacleLayer"
+      #   enabled: True
+      #   observation_sources: scan
+      #   scan:
+      #     topic: /scan
+      #     max_obstacle_height: 2.0
+      #     clearing: True
+      #     marking: True
+      #     data_type: "LaserScan"
+      #     raytrace_max_range: 8.0 # was 3.0
+      #     raytrace_min_range: 0.0
+      #     obstacle_max_range: 2.5
+      #     obstacle_min_range: 0.0
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True