diff --git a/config/lidar_angle_filter_config.yaml b/config/lidar_angle_filter_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6adc07655e0ba1d929c667b77714d29bd190eb1e
--- /dev/null
+++ b/config/lidar_angle_filter_config.yaml
@@ -0,0 +1,22 @@
+n_pairs: 5
+ranges:
+  - range1
+  - range2
+  - range3
+  - range4
+  - range5
+range1:
+  min: -0.1
+  max: 0.1
+range2:
+  min: -1.1
+  max: -0.9
+range3:
+  min: 0.9
+  max: 1.1
+range4:
+  min: -2.2
+  max: -2.0
+range4:
+  min: 2.0
+  max: 2.2
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
index 98ac77c85a05bf7af7a034f7ed1fd1189a284047..71ec35ac226fb8b9b03e061f8a4b256195e5fb4e 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -13,7 +13,7 @@
     <arg name="use_nodelets" value="$(arg use_nodelets)"/>
     <arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
     <arg name="lidar_filter_node_name" value="lidar_filter"/>
-    <arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
+    <arg name="lidar_filter_config_file" value="$(find iri_helena_rosnav)/config/lidar_angle_filter_config.yaml"/>
     <arg name="lidar_filter_cloud_in" value="/helena/sensors/rslidar_points" />
     <arg name="lidar_detector_node_name" value="lidar_detector"/>
     <arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>