diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml
index 1be0e2a61d65c44ec6d03a3ec0c145855e8a20e8..1e2d598a3a5b133acee50395f1532bf14d7d24d0 100644
--- a/config/adc_common/landmarks_loc/amcl_mapping.yaml
+++ b/config/adc_common/landmarks_loc/amcl_mapping.yaml
@@ -19,7 +19,7 @@ amcl_localization: True
 calculate_covariance: False
 publish_tf_map_odom: False
 
-update_problem_rate: 0.1
+update_problem_rate: 0.001
 update_problem_distance: 0.2
 update_problem_angle: 0.1
 update_problem_features_detected: 3
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
index a3c83ed3db029dd4935f67ed2a113f2726935078..cef3ca803818a71eb65f13db80330cf161f6470a 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
@@ -19,7 +19,7 @@ amcl_localization: False
 calculate_covariance: False
 publish_tf_map_odom: True
 
-update_problem_rate: 0.1
+update_problem_rate: 0.001
 update_problem_distance: 0.2
 update_problem_angle: 0.1
 update_problem_features_detected: 3
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
index 448a4d566d9c2dd3b6ae0b84c72cc4792a357974..072abae1eac3a4849b2bccea730d19cae1a10ac7 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
@@ -19,7 +19,7 @@ amcl_localization: True
 calculate_covariance: False
 publish_tf_map_odom: False
 
-update_problem_rate: 0.1
+update_problem_rate: 0.001
 update_problem_distance: 0.2
 update_problem_angle: 0.1
 update_problem_features_detected: 3
diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml
index 0b9eec2f71532eda381cea0b0dcf6d0fbf1c6bad..7ce9b3d9541bc54a9f5114358d336469c72ee0d4 100644
--- a/config/adc_common/landmarks_loc/localization.yaml
+++ b/config/adc_common/landmarks_loc/localization.yaml
@@ -19,7 +19,7 @@ amcl_localization: False
 calculate_covariance: True
 publish_tf_map_odom: True
 
-update_problem_rate: 0.1
+update_problem_rate: 0.001
 update_problem_distance: 0.2
 update_problem_angle: 0.1
 update_problem_features_detected: 3
diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml
index 4e943f3c8d8fd32292d48141e899c6b9b594f6c7..3d07b8f5ae3326e934bb914d804d724700748dfc 100644
--- a/config/adc_common/landmarks_loc/slam_mapping.yaml
+++ b/config/adc_common/landmarks_loc/slam_mapping.yaml
@@ -19,7 +19,7 @@ amcl_localization: False
 calculate_covariance: False
 publish_tf_map_odom: True
 
-update_problem_rate: 0.1
+update_problem_rate: 0.001
 update_problem_distance: 0.2
 update_problem_angle: 0.1
 update_problem_features_detected: 3