diff --git a/src/machines/roscube_machine/launch/machine.launch.py b/src/machines/roscube_machine/launch/machine.launch.py
index 74fcd190e..e847005cb 100644
--- a/src/machines/roscube_machine/launch/machine.launch.py
+++ b/src/machines/roscube_machine/launch/machine.launch.py
@@ -57,10 +57,10 @@ def generate_launch_description():
     return LaunchDescription(
         [
             scs_container,
-            Node(
-                package="rosboard",
-                executable="rosboard_node",
-            ),
+            # Node(
+            #     package="rosboard",
+            #     executable="rosboard_node",
+            # ),
             Node(
                 package="driverless_common",
                 executable="display",
@@ -69,10 +69,10 @@ def generate_launch_description():
                 package="lidar_pipeline",
                 executable="lidar_detector_node",
             ),
-            Node(
-                package="mission_controller",
-                executable="mission_control_node",
-            ),
+            # Node(
+            #     package="mission_controller",
+            #     executable="mission_launcher_node",
+            # ),
             IncludeLaunchDescription(
                 launch_description_source=PythonLaunchDescriptionSource(
                     launch_file_path=str(get_package_share_path("sensors") / "launch" / "vlp32.launch.py")
diff --git a/src/navigation/nav_bringup/config/nav2_params.yaml b/src/navigation/nav_bringup/config/nav2_params.yaml
index 826f7f660..60e4e6693 100644
--- a/src/navigation/nav_bringup/config/nav2_params.yaml
+++ b/src/navigation/nav_bringup/config/nav2_params.yaml
@@ -198,7 +198,7 @@ controller_server:
     # Controller parameters
     RegulatedPurePursuit:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      desired_linear_vel: 5.0  # The desired maximum linear velocity to use.
+      desired_linear_vel: 4.0  # The desired maximum linear velocity to use.
       lookahead_dist: 4.0  # The lookahead distance to use to find the lookahead point.
       # min_lookahead_dist: 3.0  # The minimum lookahead distance threshold when using velocity scaled lookahead distances.
       # max_lookahead_dist: 5.0  # The maximum lookahead distance threshold when using velocity scaled lookahead distances.
diff --git a/src/navigation/planners/planners/node_ft_planner.py b/src/navigation/planners/planners/node_ft_planner.py
index 4c4194df9..845cb33ac 100644
--- a/src/navigation/planners/planners/node_ft_planner.py
+++ b/src/navigation/planners/planners/node_ft_planner.py
@@ -180,7 +180,7 @@ def __init__(self):
 
         # sub to track for all cone locations relative to car start point
         self.create_subscription(ConeDetectionStamped, "/slam/global_map", self.map_callback, QOS_LATEST)
-        self.create_timer(1 / 20, self.planning_callback)
+        self.create_timer(1 / 10, self.planning_callback)
 
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self)
@@ -206,6 +206,22 @@ def __init__(self):
 
         self.path_planner = PathPlanner(**self.get_planner_cfg())
 
+
+        # skip if we haven't completed a lap yet
+        (
+            path,
+            ordered_blues,
+            ordered_yellows,
+            virt_blues,
+            virt_yellows,
+            _,
+            _,
+        ) = self.path_planner.calculate_path_in_global_frame(
+            pre_track, np.array([0.0,0.0]), 0.0, return_intermediate_results=True
+        )
+        self.initialised = True
+        self.get_logger().info("Initialised planner calcs")
+
         self.get_logger().info("---Ordered path planner node initalised---")
 
     def get_planner_cfg(self):
@@ -253,7 +269,7 @@ def get_planner_cfg(self):
         }
 
         # cone matching
-        self.declare_parameter("min_track_width", 3.5)
+        self.declare_parameter("min_track_width", 4.0)
         self.declare_parameter("max_search_range", 5)
         self.declare_parameter("max_search_angle", 50)
         self.declare_parameter("matches_should_be_monotonic", True)
@@ -278,39 +294,6 @@ def map_callback(self, track_msg: ConeDetectionStamped):
         self.current_track = track_msg
 
     def planning_callback(self):
-        if not self.initialised:
-            (
-                path,
-                ordered_blues,
-                ordered_yellows,
-                virt_blues,
-                virt_yellows,
-                _,
-                _,
-            ) = self.path_planner.calculate_path_in_global_frame(
-                pre_track, np.array([0.0, 0.0]), 0.0, return_intermediate_results=True
-            )
-            self.initialised = True
-            self.get_logger().info("Initialised planner calcs")
-            return
-
-        # skip if we haven't completed a lap yet
-        if not self.initialised:
-            (
-                path,
-                ordered_blues,
-                ordered_yellows,
-                virt_blues,
-                virt_yellows,
-                _,
-                _,
-            ) = self.path_planner.calculate_path_in_global_frame(
-                pre_track, np.array([0.0,0.0]), 0.0, return_intermediate_results=True
-            )
-            self.initialised = True
-            self.get_logger().info("Initialised planner calcs")
-            return
-
         if self.current_track is None or len(self.current_track.cones) == 0:
             self.get_logger().warn("No track data received", throttle_duration_sec=1)
             return