diff --git a/homer_navigation/CMakeLists.txt b/homer_navigation/CMakeLists.txt
index a763a4028feaa42a284eb30d82cf4558a628d7f0..0d5bda2ddbb6e746e60c794acf7e937b5a698917 100644
--- a/homer_navigation/CMakeLists.txt
+++ b/homer_navigation/CMakeLists.txt
@@ -16,8 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Eigen3 REQUIRED)
 
-#set(CMAKE_BUILD_TYPE Release)
-set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_BUILD_TYPE Release)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/homer_navigation/launch/homer_navigation.launch b/homer_navigation/launch/homer_navigation.launch
index baa57eecae5383863adaae142ff65746babd7075..ca83b210dc0c32809e09b2248c1cdfc3111e7f9e 100644
--- a/homer_navigation/launch/homer_navigation.launch
+++ b/homer_navigation/launch/homer_navigation.launch
@@ -1,4 +1,4 @@
 <launch>
  <rosparam command="load" file="$(find homer_navigation)/config/homer_navigation.yaml"/>
- <node ns="/homer_navigation" name="homer_navigation" pkg="homer_navigation" type="homer_navigation" output="screen" launch-prefix="gdb"/> 
+ <node ns="/homer_navigation" name="homer_navigation" pkg="homer_navigation" type="homer_navigation" output="screen"/> 
 </launch>