diff --git a/cartographer_fetch/configuration_files/freight.lua b/cartographer_fetch/configuration_files/freight.lua
index 7d5e984..7d146ef 100644
--- a/cartographer_fetch/configuration_files/freight.lua
+++ b/cartographer_fetch/configuration_files/freight.lua
@@ -32,6 +32,9 @@ options = {
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
   trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true
diff --git a/cartographer_fetch/configuration_files/freight_simulation.lua b/cartographer_fetch/configuration_files/freight_simulation.lua
index a00b2f4..ac3d6f1 100644
--- a/cartographer_fetch/configuration_files/freight_simulation.lua
+++ b/cartographer_fetch/configuration_files/freight_simulation.lua
@@ -32,6 +32,9 @@ options = {
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
   trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
 }
 
 MAP_BUILDER.use_trajectory_builder_2d = true