diff --git a/rois_2dnav_gazebo/config/amcl_params.yaml b/rois_2dnav_gazebo/config/amcl_params.yaml
index dd2fe271fb234f4c07823a31da77b20049736a19..1d18d803b4add01834aaafd65f44f4317b3a5eca 100644
--- a/rois_2dnav_gazebo/config/amcl_params.yaml
+++ b/rois_2dnav_gazebo/config/amcl_params.yaml
@@ -4,12 +4,12 @@ max_particles: 5000
 kld_err: 0.01
 kld_z:   0.99
 
-update_min_d: 0.01
-update_min_a: 0.01
+update_min_d: 0.2
+update_min_a: 0.2
 
 resample_interval: 2
 
-transform_tolerance: 0.1
+transform_tolerance: 0.5
 
 recovery_alpha_slow: 0.001
 recovery_alpha_fast: 0.1
diff --git a/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml
index f892f5584d0aacd6f1b2065a0ece3c10ddeeea66..d89bc59c52cd9e5c1fa74bbca669930b0456a77d 100644
--- a/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml
@@ -1,8 +1,8 @@
 global_costmap:
   global_frame: map
   robot_base_frame: robot1/base_footprint
-  update_frequency: 3.0
-  publish_frequency: 3.0 
+  update_frequency: 0.5
+  publish_frequency: 0.5
   static_map: true
   rolling_window: false
   transform_tolerance: 1.0
diff --git a/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml
index d21d3bff3d3e0fdcb9a8425868f4c85ba701c73f..498e2ce3435bf59e49929022f4788fb03bf347f2 100644
--- a/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml
@@ -1,8 +1,8 @@
 local_costmap:
   global_frame: robot1/odom
   robot_base_frame: robot1/base_footprint
-  update_frequency: 8.0
-  publish_frequency: 7.0
+  update_frequency: 1.0
+  publish_frequency: 1.0
   width: 10.0
   height: 10.0
   resolution: 0.02
diff --git a/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml
index a318075de7c61979ee797ec80df15fb869fbc385..782298707a9971d121b7317204c98b53f64d09e2 100644
--- a/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml
@@ -1,8 +1,8 @@
 global_costmap:
   global_frame: map
   robot_base_frame: robot2/base_footprint
-  update_frequency: 3.0
-  publish_frequency: 3.0 
+  update_frequency: 0.5
+  publish_frequency: 0.5
   static_map: true
   rolling_window: false
   transform_tolerance: 1.0
diff --git a/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml
index 8065ad90629f4baca230e76bb829914e3655ffba..c5a36220c781f15f4018f5c1fe2b3c63ee342f7b 100644
--- a/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml
@@ -1,8 +1,8 @@
 local_costmap:
   global_frame: robot2/odom
   robot_base_frame: robot2/base_footprint
-  update_frequency: 8.0
-  publish_frequency: 7.0
+  update_frequency: 1.0
+  publish_frequency: 1.0
   width: 10.0
   height: 10.0
   resolution: 0.02
diff --git a/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml
index 9f0bd7e552b7be0621ba53da1f9a1a22287df6c8..72d2c6e1f9339abd7127a3c87ed722f193dbef6d 100644
--- a/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml
@@ -1,8 +1,8 @@
 global_costmap:
   global_frame: map
   robot_base_frame: robot3/base_footprint
-  update_frequency: 3.0
-  publish_frequency: 3.0 
+  update_frequency: 0.5
+  publish_frequency: 0.5
   static_map: true
   rolling_window: false
   transform_tolerance: 1.0
diff --git a/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml
index 2f5a5af986a1183dea8354a08a9722af84f66368..2e83eacb400e7c3e8739c14124fc143d9e1c9bfc 100644
--- a/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml
+++ b/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml
@@ -1,8 +1,8 @@
 local_costmap:
   global_frame: robot3/odom
   robot_base_frame: robot3/base_footprint
-  update_frequency: 8.0
-  publish_frequency: 7.0
+  update_frequency: 1.0
+  publish_frequency: 1.0
   width: 10.0
   height: 10.0
   resolution: 0.02
diff --git a/rois_2dnav_gazebo/config/move_base_params.yaml b/rois_2dnav_gazebo/config/move_base_params.yaml
index 86ed2ca14d818d15974e56d5d89ecba8869dacc4..0d8ca0b0f0b428e2e205090fe3dca1f717d0be0e 100644
--- a/rois_2dnav_gazebo/config/move_base_params.yaml
+++ b/rois_2dnav_gazebo/config/move_base_params.yaml
@@ -1,4 +1,4 @@
-controller_frequency: 5.0
+controller_frequency: 2.0
 controller_patience: 10.0
 
 planner_patience: 5.0
diff --git a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml
index 7459a1ab8b94d665ace62afbb314f9c3a3a69532..5f4e95e2f86ba48eafae6d19b659d304817ca631 100644
--- a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml
+++ b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml
@@ -4,7 +4,7 @@ TrajectoryPlannerROS:
   max_vel_theta: 2.0
   min_vel_theta: -2.0
  
-  min_in_place_rotational_vel: 1.0
+  min_in_place_vel_theta: 1.0
 
   acc_lim_x: 1.0
   acc_lim_y: 0.0
@@ -16,7 +16,7 @@ TrajectoryPlannerROS:
   xy_goal_tolerance: 2.0
 
   sim_time: 2.0
-  controller_frequency: 5.0
+  controller_frequency: 2.0
   # Length of view when rotate
   heading_lookahead: 15.0
   # Use method of Dynamic Window Approach
@@ -28,4 +28,4 @@ TrajectoryPlannerROS:
   publish_cost_grid_pc: true
   global_frame_id: /map
 
-  meter_scoring: false
+  meter_scoring: true