diff --git a/nodes/mecanum_drive_odometry b/nodes/mecanum_drive_odometry
index e0e1986eb7adc3534109e3cb2345f12b54e7be3a..66a4577031989dad55a8570a4b073251a17765c4 100755
--- a/nodes/mecanum_drive_odometry
+++ b/nodes/mecanum_drive_odometry
@@ -13,19 +13,19 @@ from math import sin, cos
 from mecanum_drive.pose import Pose
 from mecanum_drive import odometry
 
-ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, 
-                        0, 1e-3, 0, 0, 0, 0,
-                        0, 0, 1e6, 0, 0, 0,
-                        0, 0, 0, 1e6, 0, 0,
-                        0, 0, 0, 0, 1e6, 0,
-                        0, 0, 0, 0, 0, 1e3]
-
-ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, 
-                         0, 1e-3, 0, 0, 0, 0,
-                         0, 0, 1e6, 0, 0, 0,
-                         0, 0, 0, 1e6, 0, 0,
-                         0, 0, 0, 0, 1e6, 0,
-                         0, 0, 0, 0, 0, 1e3]
+ODOM_POSE_COVARIANCE = [1, 0, 0, 0, 0, 0, 
+                        0, 1, 0, 0, 0, 0,
+                        0, 0, 1, 0, 0, 0,
+                        0, 0, 0, 99999.0, 0, 0,
+                        0, 0, 0, 0, 99999.0, 0,
+                        0, 0, 0, 0, 0, 1]
+
+ODOM_TWIST_COVARIANCE = [1, 0, 0, 0, 0, 0, 
+                         0, 1, 0, 0, 0, 0,
+                         0, 0, 1, 0, 0, 0,
+                         0, 0, 0, 99999.0, 0, 0,
+                         0, 0, 0, 0, 99999.0, 0,
+                         0, 0, 0, 0, 0, 1]
 
 class OdometryNode: