diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b5b8fa8..d7e5d69 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -56,7 +56,7 @@ bt_navigator:
       - nav2_compute_path_through_poses_action_bt_node
       - nav2_smooth_path_action_bt_node
       - nav2_follow_path_action_bt_node
-      #- nav2_spin_action_bt_node
+      - nav2_spin_action_bt_node
       - nav2_wait_action_bt_node
       - nav2_assisted_teleop_action_bt_node
       - nav2_back_up_action_bt_node
@@ -94,7 +94,7 @@ bt_navigator:
       - nav2_controller_cancel_bt_node
       - nav2_path_longer_on_approach_bt_node
       - nav2_wait_cancel_bt_node
-      #- nav2_spin_cancel_bt_node
+      - nav2_spin_cancel_bt_node
       - nav2_back_up_cancel_bt_node
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
@@ -668,9 +668,9 @@ behavior_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    behavior_plugins: [ "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed spin",
-    # spin:
-    #   plugin: "nav2_behaviors/Spin"
+    behavior_plugins: [ "spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed spin",
+    spin:
+       plugin: "nav2_behaviors/Spin"
     backup:
       plugin: "nav2_behaviors/BackUp"
     drive_on_heading: