diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 89e33a8..ec2fd39 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -157,9 +157,10 @@ controller_server:
       max_vel_x: 0.26
       max_vel_y: 0.0
       max_vel_theta: 1.0
-      min_speed_xy: 0.0
+      min_speed_xy: 0.001
       max_speed_xy: 0.26
       min_speed_theta: 0.0
+      max_speed_theta: 0.26
       # Add high threshold velocity for turtlebot 3 issue.
       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
       acc_lim_x: 0.5 # was 2.5