diff --git a/config/ekf.yaml b/config/ekf.yaml
index aa31b83..02d8d45 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -5,7 +5,7 @@ ekf_filter_node:
 # computation until it receives at least one message from one of theinputs. It will then run continuously at the
 # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
         # frequency: 30.0
-        frequency: 100.0
+        frequency: 10.0
 
 # ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
 # set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index dff7ab4..3ae8426 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -357,6 +357,6 @@ velocity_smoother:
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
     odom_topic: "/odometry/filtered"
-    odom_duration: 0.01 # was 0.1
+    odom_duration: 0.1 # was 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0
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