diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index e1de620..0ebf261 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -141,14 +141,14 @@ controller_server:
       # plugin: "dwb_core::DWBLocalPlanner"
 
       # trying roation_shim_controller
-      #plugin: "nav2_rotation_shim_controller::RotationShimController"
-      plugin: "dwb_core::DWBLocalPlanner"
+      plugin: "nav2_rotation_shim_controller::RotationShimController"
+      #plugin: "dwb_core::DWBLocalPlanner"
       #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      #primary_controller: "dwb_core::DWBLocalPlanner"
+      primary_controller: "dwb_core::DWBLocalPlanner"
       angular_dist_threshold: 0.785
       forward_sampling_distance: 0.5
       rotate_to_heading_angular_vel: 1.8
-      max_angular_accel: 3.2
+      max_angular_accel: 0.5
       simulate_ahead_time: 1.0
 
       # primary controller params (dwb)