diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
index 53f1c25e6d7e3e6fb857ce02033a980752b18fcc..34d3506a8d9a815e1cc133d7b80d86ef6b335da0 100644
--- a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -6,6 +6,7 @@
     "pse": {
       "pse_costum_obstacle_penalties": true,
       "pse_costum_obstacle_penalties_dynamic": true,
+      "weight_costmap": 0.5,
       "weight_global_path_position": 0.3,
       "weight_global_path_orientation": 0.3,
       "lrk_use_alternative_approach": false,
diff --git a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
index 352c92130783063418c0b6d59ec15080d3209491..9d0873c3669327ef28f03d3b05cdd4dbffa1f1d5 100644
--- a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
+++ b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
@@ -14,6 +14,10 @@
                 <bool />
             </ObjectChild>
 
+            <ObjectChild key='weight_costmap'>
+                <float />
+            </ObjectChild>
+
             <ObjectChild key='weight_global_path_position'>
                 <float />
             </ObjectChild>
diff --git a/source/armarx/navigation/local_planning/aron_conversions.cpp b/source/armarx/navigation/local_planning/aron_conversions.cpp
index 0601914bd0e0cc286ef83d2bf3badbfdd8c6d22c..928c543e8824160ec1be439041a2c40f2189e733 100644
--- a/source/armarx/navigation/local_planning/aron_conversions.cpp
+++ b/source/armarx/navigation/local_planning/aron_conversions.cpp
@@ -29,6 +29,7 @@ namespace armarx::navigation::local_planning
         bo.pse.pse_costum_obstacle_penalties = dto.teb_config.pse.pse_costum_obstacle_penalties;
         bo.pse.pse_costum_obstacle_penalties_dynamic =
             dto.teb_config.pse.pse_costum_obstacle_penalties_dynamic;
+        bo.pse.weight_costmap = dto.teb_config.pse.weight_costmap;
         bo.pse.weight_global_path_position = dto.teb_config.pse.weight_global_path_position;
         bo.pse.weight_global_path_orientation = dto.teb_config.pse.weight_global_path_orientation;
         bo.pse.lrk_use_alternative_approach = dto.teb_config.pse.lrk_use_alternative_approach;