diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a1dc98..23b0274 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(robot_localization_cpp)
+project(ISR_robot_localization_cpp)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/package.xml b/package.xml
index c4e8ef8..f47eaec 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_localization_cpp</name>
+  <name>ISR_robot_localization_cpp</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="achakraborty@olin.edu">achakraborty</maintainer>
diff --git a/src/occupancy_field.cpp b/src/occupancy_field.cpp
index 30ed647..b63d3ba 100644
--- a/src/occupancy_field.cpp
+++ b/src/occupancy_field.cpp
@@ -81,8 +81,9 @@ OccupancyField::OccupancyField(std::shared_ptr<rclcpp::Node> node) {
   RCLCPP_DEBUG_STREAM(node->get_logger(), "occupancy field ready");
 };
 
-std::array<double, 4> OccupancyField::get_obstacle_bounding_box() {
-  unsigned int x_min = UINT8_MAX, x_max = 0, y_min = UINT8_MAX, y_max = 0;
+std::array<double, 4> OccupancyField::get_obstacle_bounding_box(unsigned int x_min_arg, unsigned int y_min_arg) {
+  unsigned int x_min = x_min_arg, x_max = 0, y_min = y_min_arg, y_max = 0;
+
   for (unsigned int i = 0; i < this->occupied_coordinates.cols(); i++) {
     if (this->occupied_coordinates(0, i) < x_min) {
       x_min = this->occupied_coordinates(0, i);
diff --git a/src/occupancy_field.hpp b/src/occupancy_field.hpp
index 088d98f..0da7980 100644
--- a/src/occupancy_field.hpp
+++ b/src/occupancy_field.hpp
@@ -28,9 +28,12 @@ class OccupancyField {
    * Returns: the upper and lower bounds of x and y such that the resultant
    * bounding box contains all of the obstacles in the map.  The format of
    * the return value is ((x_lower, x_upper), (y_lower, y_upper))
+   * May pass in specific values if known as x_min_arg and y_min_arg to minimize compute time.
    */
-  std::array<double, 4> get_obstacle_bounding_box();
-
+  std::array<double, 4> get_obstacle_bounding_box(
+      unsigned int x_min_arg = UINT16_MAX,
+      unsigned int y_min_arg = UINT16_MAX
+  );
   /**
    * Compute the closest obstacle to the specified (x,y) coordinate in
    * the map.  If the (x,y) coordinate is out of the map boundaries, nan