diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 5c05ee1..aaf5e4e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -462,8 +462,8 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic
-      BaseObstacle.scale: 0.08 # was 0.02
+      critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic
+      ObstacleFootprintCritic.scale: 0.08 # was 0.02
       PathAlign.scale: 32.0
       GoalAlign.scale: 24.0
       PathAlign.forward_point_distance: 0.1