diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index de0ca21..1992b3b 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -546,44 +546,44 @@ 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", "inflation_layer", "denoise_layer", "stvl_layer"] # remove "obstacle_layer",
-      stvl_layer:
-        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
-        enabled: true
-        voxel_decay: 15.
-        decay_model: 0
-        voxel_size: 0.05
-        track_unknown_space: true
-        unknown_threshold: 15
-        mark_threshold: 0
-        update_footprint_enabled: true
-        combination_method: 1
-        origin_z: 0.0
-        publish_voxel_map: true
-        transform_tolerance: 0.2
-        mapping_mode: false
-        map_save_duration: 60.0
-        observation_sources: pointcloud
-        pointcloud:
-          data_type: PointCloud2
-          topic: /stereo/points
-          marking: true
-          clearing: true
-          obstacle_range: 1.0 # was 3.0
-          min_obstacle_height: 0.0
-          max_obstacle_height: 2.0
-          expected_update_rate: 0.0
-          observation_persistence: 0.0
-          inf_is_valid: false
-          filter: "voxel"
-          voxel_min_points: 0
-          clear_after_reading: true
-          max_z: 7.0
-          min_z: 0.1
-          vertical_fov_angle: 0.8745
-          horizontal_fov_angle: 1.048
-          decay_acceleration: 15.0
-          model_type: 0
+      plugins: ["static_layer", "inflation_layer", "denoise_layer"] # remove "obstacle_layer", , "stvl_layer"
+      # stvl_layer:
+      #   plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
+      #   enabled: true
+      #   voxel_decay: 15.
+      #   decay_model: 0
+      #   voxel_size: 0.05
+      #   track_unknown_space: true
+      #   unknown_threshold: 15
+      #   mark_threshold: 0
+      #   update_footprint_enabled: true
+      #   combination_method: 1
+      #   origin_z: 0.0
+      #   publish_voxel_map: true
+      #   transform_tolerance: 0.2
+      #   mapping_mode: false
+      #   map_save_duration: 60.0
+      #   observation_sources: pointcloud
+      #   pointcloud:
+      #     data_type: PointCloud2
+      #     topic: /stereo/points
+      #     marking: true
+      #     clearing: true
+      #     obstacle_range: 1.0 # was 3.0
+      #     min_obstacle_height: 0.0
+      #     max_obstacle_height: 2.0
+      #     expected_update_rate: 0.0
+      #     observation_persistence: 0.0
+      #     inf_is_valid: false
+      #     filter: "voxel"
+      #     voxel_min_points: 0
+      #     clear_after_reading: true
+      #     max_z: 7.0
+      #     min_z: 0.1
+      #     vertical_fov_angle: 0.8745
+      #     horizontal_fov_angle: 1.048
+      #     decay_acceleration: 15.0
+      #     model_type: 0
       denoise_layer:
         plugin: "nav2_costmap_2d::DenoiseLayer"
         enabled: True