diff --git a/stretch_rtab/config/3d/local_costmap_params.yaml b/stretch_rtab/config/3d/local_costmap_params.yaml
index 3763b32..43ca987 100644
--- a/stretch_rtab/config/3d/local_costmap_params.yaml
+++ b/stretch_rtab/config/3d/local_costmap_params.yaml
@@ -5,10 +5,10 @@ local_costmap:
   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
   global_frame: odom
   robot_base_frame: base_link
-  update_frequency: 10.0
-  publish_frequency: 5.0
+  update_frequency: 5.0
+  publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 5.0
   height: 5.0
-  resolution: 0.06
+  resolution: 0.05