diff --git a/src/robot_behavior/launch/main.launch b/src/robot_behavior/launch/main.launch
index 731cb92a40b202645e8f6ab6e0fab2c3131206a6..7f30f8949e03b315944693e3b469a12b108dc4b9 100644
--- a/src/robot_behavior/launch/main.launch
+++ b/src/robot_behavior/launch/main.launch
@@ -18,11 +18,11 @@
   
   <arg name="pub_hz_control"                           default="20"/>
   <arg name="success_dist_thresh"                      default="0.4"/>
-  <arg name="success_ang_thresh"                       default="0.4"/>
+  <arg name="success_ang_thresh"                       default="0.3"/>
 
   <arg name="local_map_depth"                          default="3"/>
-  <arg name="offset_dilation_local"                    default="-2"/>
-  <arg name="offset_dilation_global"                   default="8"/>
+  <arg name="offset_dilation_local"                    default="10"/>
+  <arg name="offset_dilation_global"                   default="10"/>
   <arg name="base_footprint_radius"                    default="0.3"/>
   <arg name="dilation_iter"                            default="1"/>
   <arg name="global_map_topic"                         default="grid_map"/>