diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index f51cb13..917b150 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -1,6 +1,6 @@
 controller_frequency: 5.0
 recovery_behavior_enabled: true #false
-clearing_rotation_allowed: false
+clearing_rotation_allowed: true #false
 
 DWAPlannerROS:
    max_vel_trans: 1.0
@@ -32,7 +32,7 @@ DWAPlannerROS:
    prune_plan: true
 
    # Forward Simulation Parameters
-   sim_time: 5.0 #2.5
+   sim_time: 1.0 #5.0 #2.5
    sim_granularity: 0.025
    angular_sim_granularity: 0.025
    vx_samples: 8