diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index 6eb487c..a43d54b 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -26,9 +26,9 @@ slam_toolbox:
     debug_logging: false
     throttle_scans: 1
     transform_publish_period: 0.02 #if 0 never publishes odometry
-    map_update_interval: 1.0 #was 5.0
+    map_update_interval: 5.0 #was 5.0
     resolution: 0.05
-    max_laser_range: 200.0 #for rastering images, standard was 20
+    max_laser_range: 16 #for rastering images, standard was 20
     minimum_time_interval: 0.5
     transform_timeout: 0.2
     tf_buffer_duration: 30.