diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index bb19f3a7..75176c50 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -107,7 +107,7 @@
   <!-- Throttling messages -->
   <group ns="camera">
     <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
-      <param name="max_rate" type="double" value="2.0"/>
+      <param name="max_rate" type="double" value="4.0"/>
    
       <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
       <remap from="depth/image_in"     to="depth_registered/image_raw"/>
@@ -126,6 +126,7 @@
       <param name="decimation" type="int" value="4"/>
       <param name="max_depth" type="double" value="6.0"/>
       <param name="noise_filter_radius" type="double" value="0.05"/>
+      <param name="noise_filter_min_neighbors" type="int" value="10"/>
     </node>  
   </group>
 </launch>
diff --git a/launch/azimut3/config/base_local_planner_params.yaml b/launch/azimut3/config/base_local_planner_params.yaml
index 1f292d86..0fd03f7b 100644
--- a/launch/azimut3/config/base_local_planner_params.yaml
+++ b/launch/azimut3/config/base_local_planner_params.yaml
@@ -7,7 +7,7 @@ TrajectoryPlannerROS:
   # min_vel_x and max_rotational_vel were set to keep the ICR at
   # minimal distance of 0.48 m. 
   # Basically, max_rotational_vel * rho_min <= min_vel_x
-  max_vel_x:  0.500
+  max_vel_x:  0.700
   min_vel_x:  0.212
   max_rotational_vel: 0.550
   min_in_place_rotational_vel: 0.15