diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 25c488c..c568f7d 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -90,7 +90,7 @@ amcl:
     global_frame_id: "map"
     lambda_short: 0.1
     laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
+    laser_max_range: 7.0 #was 100.0
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     max_beams: 60
@@ -114,6 +114,7 @@ amcl:
     z_rand: 0.5
     z_short: 0.05
     scan_topic: scan
+    set_initial_pose: true
 
 bt_navigator:
   ros__parameters: