diff --git a/config/ekf.yaml b/config/ekf.yaml
index 08e8972..89f9e91 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -35,7 +35,7 @@ ekf_filter_node:
         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,
                        false, false, true,
diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index aa7de9f..f9fc4c5 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -212,7 +212,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 15.0 # was 3.0
-        inflation_radius: 0.22
+        inflation_radius: 0.33
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True