diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index c8c1402..1a399cf 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -138,7 +138,18 @@ controller_server:
       yaw_goal_tolerance: 0.25
     # DWB parameters
     FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
+      # plugin: "dwb_core::DWBLocalPlanner"
+
+      # trying roation_shim_controller
+      plugin: "nav2_rotation_shim_controller::RotationShimController"
+      primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      angular_dist_threshold: 0.785
+      forward_sampling_distance: 0.5
+      rotate_to_heading_angular_vel: 1.8
+      max_angular_accel: 3.2
+      simulate_ahead_time: 1.0
+
+      # primary controller params (dwb)
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
@@ -193,11 +204,14 @@ local_costmap:
       resolution: 0.05
       #robot_radius: 0.50
       footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]"
-      plugins: ["voxel_layer", "inflation_layer"]
+      plugins: ["voxel_layer", "inflation_layer"], "denoise_layer"
+      denoise_layer:
+        plugin: "nav2_costmap_2d::DenoiseLayer"
+        enabled: True
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.11
+        cost_scaling_factor: 10.0 # was 3.0
+        inflation_radius: 0.55
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -234,7 +248,10 @@ global_costmap:
       robot_radius: 0.50
       resolution: 0.05
       track_unknown_space: true
-      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"]
+      denoise_layer:
+        plugin: "nav2_costmap_2d::DenoiseLayer"
+        enabled: True
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
@@ -254,8 +271,8 @@ global_costmap:
         map_subscribe_transient_local: True
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.11
+        cost_scaling_factor: 10.0 # was 3.0
+        inflation_radius: 0.55
       always_send_full_costmap: True
 
 map_server:
@@ -339,8 +356,8 @@ velocity_smoother:
     use_sim_time: True
     smoothing_frequency: 20.0
     scale_velocities: False
-    #feedback: "OPEN_LOOP"
-    feedback: "CLOSED_LOOP"
+    feedback: "OPEN_LOOP"
+    #feedback: "CLOSED_LOOP"
     max_velocity: [0.26, 0.0, 1.0]
     min_velocity: [-0.26, 0.0, -1.0]
     max_accel: [2.5, 0.0, 3.2]