diff --git a/launch/3d_nav_nomap.launch b/launch/3d_nav_nomap.launch
index 963c57ae8c8551c5670baf2bf9a9ff1c1b3f16d6..3cbb3cd296fe85aa4f661ea0f4abed33e4b308a5 100644
--- a/launch/3d_nav_nomap.launch
+++ b/launch/3d_nav_nomap.launch
@@ -5,7 +5,7 @@
   <arg name="name"                    default="ana"/>
 
   <arg name="use_3d_nav_nodelets"     default="true"/>
-  <arg name="nav_camera"              default="nav_cam_top"/>
+  <arg name="nav_camera"              default="nav_cam"/>
 
   <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
diff --git a/params/move_base_params.yaml b/params/move_base_params.yaml
index aa2617cc87ad0e02b5230460302df13923745d1c..4cc23ae3a785b681a233bba388bc89b4c885803f 100644
--- a/params/move_base_params.yaml
+++ b/params/move_base_params.yaml
@@ -25,5 +25,5 @@ clearing_rotation_allowed: false
 clearing_radius: 0.46
 shutdown_costmaps: false
 
-oscillation_timeout: 4.0
-oscillation_distance: 0.2
+oscillation_timeout: 0.0
+oscillation_distance: 0.0