diff --git a/config/adc_rosnav/amcl_no_tf.yaml b/config/adc_rosnav/amcl_no_tf.yaml
index 02cb42e41bb09cb387d99c6e6c3eece8dc6f1618..5032cf811940983e3b8c73b4064f7796aa3d06d6 100644
--- a/config/adc_rosnav/amcl_no_tf.yaml
+++ b/config/adc_rosnav/amcl_no_tf.yaml
@@ -38,9 +38,9 @@ laser_likelihood_max_dist: 2.0
 laser_model_type: 'likelihood_field'
 # odom parameters
 odom_model_type: "diff"
-odom_alpha1: 10.0
-odom_alpha2: 10.0
+odom_alpha1: 1.0
+odom_alpha2: 1.0
 odom_alpha3: 0.2
-odom_alpha4: 10.0
+odom_alpha4: 1.0
 odom_alpha5: 0.2
 tf_broadcast: false
diff --git a/config/adc_rosnav/costmap/local_params.yaml b/config/adc_rosnav/costmap/local_params.yaml
index 492193e50bfdf124e9e55ae1c0f1599c1ff14d6e..a6e76ee1c565d43b8db25db0cb659c8a3e003b30 100644
--- a/config/adc_rosnav/costmap/local_params.yaml
+++ b/config/adc_rosnav/costmap/local_params.yaml
@@ -3,8 +3,8 @@ global_frame: adc_car/odom
 update_frequency: 5.0
 publish_frequency: 2.0
 rolling_window: true
-width: 5.0
-height: 5.0
+width: 3.0
+height: 3.0
 resolution: 0.05
 origin_x: 0.0
 origin_y: 0.0
diff --git a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
index 45e7c0e11bbb974e4e007f8c1aa95f133b3227e5..8201302a90f4559f7ca05834d4e583cc4c89d0e9 100644
--- a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
+++ b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
@@ -1,9 +1,9 @@
 base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
 OpendriveGlobalPlanner:
   opendrive_frame: "opendrive"
-  angle_tol: 0.5
+  angle_tol: 1.5707
   dist_tol: 0.3
-  multi_hyp: True
+  multi_hyp: False
   resolution: 0.01
   scale_factor: 10.0
   min_road_length: 0.01