diff --git a/src/dcaitirobot/config/slam.yml b/src/dcaitirobot/config/slam.yml
index 6c5c8df..ab9e374 100644
--- a/src/dcaitirobot/config/slam.yml
+++ b/src/dcaitirobot/config/slam.yml
@@ -3,3 +3,4 @@ slam_toolbox:
     base_frame: base_link
     map_update_interval: 1.0
     scan_topic: /scan_no_nan
+    odom_topic: /odom_scaled
diff --git a/src/dcaitirobot/dcaitirobot/twist.py b/src/dcaitirobot/dcaitirobot/twist.py
index 5cbcbbb..a0ce80c 100644
--- a/src/dcaitirobot/dcaitirobot/twist.py
+++ b/src/dcaitirobot/dcaitirobot/twist.py
@@ -7,8 +7,8 @@ from sensor_msgs.msg import Joy
 
 import numpy as np
 
-SCALE_LINEAR_VELOCITY = 0.1
-SCALE_ANGULAR_VELOCITY = 0.1
+SCALE_LINEAR_VELOCITY = 0.2
+SCALE_ANGULAR_VELOCITY = 0.7
 PUBLISH_FREQUENCY_HZ = 30
 
 SMOOTH_WEIGHTS = np.array([1, 2, 4, 10, 20])
diff --git a/src/dcaitirobot/launch/frames.gv b/src/dcaitirobot/launch/frames.gv
index 85c41d0..3a20282 100644
--- a/src/dcaitirobot/launch/frames.gv
+++ b/src/dcaitirobot/launch/frames.gv
@@ -1,19 +1,14 @@
 digraph G {
-"odom" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 29.645\nBuffer length: 4.284\nMost recent transform: 109.56\nOldest transform: 105.276\n"];
-"base_footprint" -> "base_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"camera_link" -> "camera_depth_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"camera_depth_frame" -> "camera_depth_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"camera_link" -> "camera_rgb_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"camera_rgb_frame" -> "camera_rgb_optical_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "caster_back_left_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "caster_back_right_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "imu_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "base_scan"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
-"base_link" -> "wheel_left_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"];
-"base_link" -> "wheel_right_link"[label=" Broadcaster: default_authority\nAverage rate: 17.882\nBuffer length: 4.25\nMost recent transform: 109.56\nOldest transform: 105.31\n"];
+"base_link" -> "velodyne"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"base_link" -> "base_footprint"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"chassis" -> "camera_link"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"base_link" -> "chassis"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"camera_link" -> "camera_link_optical"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"chassis" -> "caster_wheel_back"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"chassis" -> "caster_wheel_front"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
+"chassis" -> "laser_frame"[label=" Broadcaster: default_authority\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"];
 edge [style=invis];
  subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
-"Recorded at time: 1688900208.2025208"[ shape=plaintext ] ;
-}->"odom";
+"Recorded at time: 1688907915.1191485"[ shape=plaintext ] ;
+}->"base_link";
 }
\ No newline at end of file
diff --git a/src/dcaitirobot/launch/frames.pdf b/src/dcaitirobot/launch/frames.pdf
index f9a1b29..f5f7757 100644
Binary files a/src/dcaitirobot/launch/frames.pdf and b/src/dcaitirobot/launch/frames.pdf differ
diff --git a/src/dcaitirobot/launch/launch_slam.py b/src/dcaitirobot/launch/launch_slam.py
index cd1f9ea..50bf9ac 100644
--- a/src/dcaitirobot/launch/launch_slam.py
+++ b/src/dcaitirobot/launch/launch_slam.py
@@ -32,6 +32,12 @@ def generate_launch_description():
                 name="fixlidar",
             )
 
+    node_scale_odom = Node(
+                package="dcaitirobot",
+                executable="scaleodom",
+                name="scaleodom",
+            )
+
     tfs1 = Node(package = "tf2_ros", 
                        executable = "static_transform_publisher",
                        arguments = ["0", "0", "0" ,"0", "0", "0", "base_link", "velodyne"])
@@ -42,5 +48,5 @@ def generate_launch_description():
 
 
     return LaunchDescription([
-        slam_toolbox, tfs1, tfs2, node_fix_lidar
+        slam_toolbox, tfs1, tfs2, node_fix_lidar, node_scale_odom
     ])
\ No newline at end of file
diff --git a/src/dcaitirobot/setup.py b/src/dcaitirobot/setup.py
index f769753..8285101 100644
--- a/src/dcaitirobot/setup.py
+++ b/src/dcaitirobot/setup.py
@@ -28,7 +28,8 @@ setup(
             'twistcalc = dcaitirobot.twist:main',
             'serial_comms = dcaitirobot.serial_comms:main',
             'joy = dcaitirobot.joy:main',
-            "fixlidar = dcaitirobot.handle_nan_scan:main"
+            "fixlidar = dcaitirobot.handle_nan_scan:main",
+            "scaleodom = dcaitirobot.scale_odom:main"
         ],
     },
 )