diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index 2fd7ad55..70822a35 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -28,10 +28,12 @@
 
       <remap from="goal_out" to="current_goal"/>	
       <remap from="move_base" to="/planner/move_base"/>
-      <remap from="grid_map" to="/map"/>
+      <remap from="proj_map" to="/map"/>
 
       <param name="use_action_for_goal" type="bool" value="true"/>
       <param name="queue_size" type="int" value="10"/>
+
+      <param name="cloud_decimation" type="int" value="1"/>
 	
       <param name="RGBD/PoseScanMatching" type="string" value="true"/>           
       <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
@@ -42,10 +44,12 @@
 	 
       <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
       <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
+      <param name="RGBD/LocalRadius" type="string" value="5"/>
 	  
       <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
       <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-      <param name="Mem/ImageDecimation" type="string" value="8"/>
+      <param name="Mem/ImageDecimation" type="string" value="4"/>
+      <param name="Mem/LocalSpaceLinksKeptInWM" type="string" value="true"/>
 
       <param name="Rtabmap/TimeThr" type="string" value="700"/>
       <param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -62,7 +66,7 @@
 	  
       <param name="SURF/HessianThreshold" type="string" value="1000"/>
 	  
-	  <param name="LccBow/Force2D" type="string" value="true"/>
+      <param name="LccBow/Force2D" type="string" value="true"/>
       <param name="LccBow/MaxDepth" type="string" value="4"/>
       <param name="LccBow/MinInliers" type="string" value="5"/>
       <param name="LccBow/InlierDistance" type="string" value="0.1"/>
diff --git a/launch/azimut3/config/costmap_common_params.yaml b/launch/azimut3/config/costmap_common_params.yaml
index 45253e38..12f69fe0 100644
--- a/launch/azimut3/config/costmap_common_params.yaml
+++ b/launch/azimut3/config/costmap_common_params.yaml
@@ -3,7 +3,7 @@ raytrace_range: 3.0
 footprint: [[ 0.3,  0.3], [-0.3,  0.3], [-0.3, -0.3], [ 0.3, -0.3]]
 footprint_padding: 0.03
 #robot_radius: ir_of_robot
-inflation_radius: 0.60
+inflation_radius: 0.55
 transform_tolerance: 1
 
 controller_patience: 2.0