diff --git a/launch/fake_localization.launch b/launch/fake_localization.launch
index cdfc05635aaf627d6af87531bfc94bc70904ad07..d6eac8ebb8bc38fc326d89b3e25fde1086057b41 100644
--- a/launch/fake_localization.launch
+++ b/launch/fake_localization.launch
@@ -12,8 +12,8 @@
       <param name="base_frame_id"   value="/$(optenv ROBOT tibi)/base_footprint" />
       <!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
       <param name="delta_x"   value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=2.0 ; delta_yaw=0.0 -->
-      <param name="delta_y"   value="-18.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ;  delta_y=-18.0 ; delta_yaw=1.57 -->
-      <param name="delta_yaw" value="1.57" />
+      <param name="delta_y"   value="2.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ;  delta_y=-18.0 ; delta_yaw=1.57 -->
+      <param name="delta_yaw" value="0.0" />
       <remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/>
       <remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/>
     </node>
diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index d1ca40c2471989b93195dd8cf53b15d2200a3ff5..f46641c543e73faf61468d008b989c0a77e20c58 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -88,8 +88,8 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
   LaserScan_msg_.ranges.clear();
   LaserScan_msg_.ranges.resize(1436,59.9);
   //laser_mode_=FakeLaserGenAlgNode::n_obstacles5;  //caso estrechez en medio del camino. Muy estrecho!
-  //laser_mode_=FakeLaserGenAlgNode::n_obstacles3;  //caso estrechez en medio del camino!
-  laser_mode_=FakeLaserGenAlgNode::scene_3;  // caso pasillo, esquina. (Ancho)
+  laser_mode_=FakeLaserGenAlgNode::n_obstacles3;  //caso estrechez en medio del camino!
+  //laser_mode_=FakeLaserGenAlgNode::scene_3;  // caso pasillo, esquina. (Ancho)
   //laser_mode_=FakeLaserGenAlgNode::scene_2;  // Estrecho! caso pasillo, esquina.
   //laser_mode_=FakeLaserGenAlgNode::scene_4;  // pasillo esquina, medio ancho, medio estrecho!