diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 8e516b0..b53d0fd 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -534,11 +534,10 @@ local_costmap:
         enabled: True
         footprint_clearing_enabled: true
         max_obstacle_height: 2.0
-        publish_voxel_map: true
+        publish_voxel_map: false
         origin_z: 0.0
-        z_resolution: 0.1
-        z_voxels: 16
-        max_obstacle_height: 2.0
+        z_resolution: 0.5
+        z_voxels: 10
         unknown_threshold: 4
         mark_threshold: 2
         observation_sources: oak-d rplidar