diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 375e1da..49a7659 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -44,7 +44,7 @@ bt_navigator:
     use_sim_time: False
     global_frame: map
     robot_base_frame: base_link
-    odom_topic: /odometry
+    odom_topic: /odometry/filtered
     bt_loop_duration: 10
     default_server_timeout: 20
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@@ -714,7 +714,7 @@ velocity_smoother:
     min_velocity: [-0.26, 0.0, -2.0] # was -0.26, 0.0, -1.0
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
-    odom_topic: "odometry"
+    odom_topic: "/odometry/filtered"
     odom_duration: 0.025 # was 0.1, set to 40 hz to match odometry freq.
     deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0
     velocity_timeout: 1.0
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