diff --git a/go2_robot_sdk/config/nav2_params.yaml b/go2_robot_sdk/config/nav2_params.yaml
index 6b53fde7..deef1e3f 100644
--- a/go2_robot_sdk/config/nav2_params.yaml
+++ b/go2_robot_sdk/config/nav2_params.yaml
@@ -181,26 +181,22 @@ controller_server:
 local_costmap:
   local_costmap:
     ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
+      update_frequency: 2.0
+      publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
       use_sim_time: False
       rolling_window: true
-      width: 6
-      height: 6
+      always_send_full_costmap: true
+      width: 8
+      height: 8
       resolution: 0.05
       footprint: "[ [0.360, 0.200], [0.360, -0.200], [-0.450, -0.200], [-0.450, 0.200] ]"
-      plugins: ["static_layer", "voxel_layer", "inflation_layer"]
+      plugins: ["obstacle_layer", "inflation_layer"]
 
-      static_layer:
-        plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: True
-
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
-        publish_voxel_map: True
         observation_sources: scan
         scan:
           topic: /scan
@@ -208,9 +204,9 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
-          raytrace_max_range: 3.0
+          raytrace_max_range: 6.0
           raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
+          obstacle_max_range: 5.5
           obstacle_min_range: 0.0
 
       inflation_layer:
@@ -221,7 +217,7 @@ local_costmap:
 global_costmap:
   global_costmap:
     ros__parameters:
-      update_frequency: 1.0
+      update_frequency: 0.0  # Set to 0 to prevent dynamic updates
       publish_frequency: 1.0
       global_frame: odom
       robot_base_frame: base_link
@@ -234,27 +230,13 @@ global_costmap:
       origin_x: -250.0 
       origin_y: -250.0
       footprint: "[ [0.360, 0.200], [0.360, -0.200], [-0.450, -0.200], [-0.450, 0.200] ]"
-      plugins: ["static_layer", "voxel_layer", "inflation_layer"]
+      plugins: ["static_layer", "inflation_layer"] # Removed voxel_layer
 
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
-
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
-        publish_voxel_map: True
-        observation_sources: scan
-        scan:
-          topic: scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
+        subscribe_to_updates: False # Don't subscribe to map updates
 
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"