diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index a58cb08..00a7631 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -387,12 +387,12 @@ controller_server:
       stateful: True
     FollowPath:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      desired_linear_vel: 0.5
+      desired_linear_vel: 0.8 # was 0.5
       lookahead_dist: 0.6
       min_lookahead_dist: 0.3
       max_lookahead_dist: 0.9
       lookahead_time: 1.5
-      rotate_to_heading_angular_vel: 0.8
+      rotate_to_heading_angular_vel: 0.4 # was 0.8
       transform_tolerance: 0.1
       use_velocity_scaled_lookahead_dist: false
       min_approach_linear_velocity: 0.05
@@ -405,7 +405,7 @@ controller_server:
       use_cost_regulated_linear_velocity_scaling: false
       regulated_linear_scaling_min_radius: 0.9
       regulated_linear_scaling_min_speed: 0.25
-      use_rotate_to_heading: true
+      use_rotate_to_heading: false # set to false because can't be set together with allow_reversing
       allow_reversing: true
       rotate_to_heading_min_angle: 0.785
       max_angular_accel: 1.2