diff --git a/config/ekf.yaml b/config/ekf.yaml
index 08e8972..2e4f2a6 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -16,7 +16,7 @@ ekf_filter_node:
         publish_acceleration: true
 
 # Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified.
-        publish_tf: true #was true
+        publish_tf: false #was true
 
 # 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
 #     1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of odom_frame.
@@ -30,14 +30,14 @@ ekf_filter_node:
         map_frame: map              # Defaults to "map" if unspecified
         odom_frame: odom            # Defaults to "odom" if unspecified
         base_link_frame: base_link  # Defaults to "base_link" ifunspecified
-        world_frame: odom           # Defaults to the value ofodom_frame if unspecified
+        world_frame: odom           # Defaults to the value of odom_frame if unspecified
 
         odom0: /odom
         # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
         # Configure it for x,y,z,vyaw on the odom topic
-        odom0_config: [true , true , false,
+        odom0_config: [false , false , false,
                        false, false, true,
-                       false, false, false,
+                       true, false, false,
                        false, false, true,
                        false, false, false]
         odom0_differential: true