diff --git a/config/ekf.yaml b/config/ekf.yaml
index 89f9e91..08e8972 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: [false , false , false,
+        odom0_config: [true , true , false,
                        false, false, true,
                        false, false, false,
                        false, false, true,
diff --git a/config/mapper_params_localization.yaml b/config/mapper_params_localization.yaml
index bf4da51..da41b35 100644
--- a/config/mapper_params_localization.yaml
+++ b/config/mapper_params_localization.yaml
@@ -15,7 +15,7 @@ slam_toolbox:
     mode: mapping #localization
 
     # if you'd like to start localizing on bringup in a map and pose
-    #map_file_name: test_steve
+    #map_file_name: map
     #map_start_pose: [5.0, 1.0, 0.0]
 
     debug_logging: false