diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index ab735d0..b2901a4 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -588,29 +588,29 @@ map_saver:
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: True
 
-# planner_server:
-#   ros__parameters:
-#     expected_planner_frequency: 20.0
-#     use_sim_time: False
-#     planner_plugins: ["GridBased"]
-#     GridBased:
-#       plugin: "nav2_navfn_planner/NavfnPlanner"
-#       tolerance: 0.5
-#       #use_astar: false
-#       allow_unknown: true
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: False
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      #use_astar: false
+      allow_unknown: true
 
 ### Trying theta-star planner
-planner_server:
-ros__parameters:
-  expected_planner_frequency: 20.0
-  use_sim_time: False
-  planner_plugins: ["GridBased"]
-  GridBased:
-    plugin: "nav2_theta_star_planner/ThetaStarPlanner"
-    how_many_corners: 8
-    w_euc_cost: 1.0
-    w_traversal_cost: 2.0
-    w_heuristic_cost: 1.0
+# planner_server:
+# ros__parameters:
+#   expected_planner_frequency: 20.0
+#   use_sim_time: False
+#   planner_plugins: ["GridBased"]
+#   GridBased:
+#     plugin: "nav2_theta_star_planner/ThetaStarPlanner"
+#     how_many_corners: 8
+#     w_euc_cost: 1.0
+#     w_traversal_cost: 2.0
+#     w_heuristic_cost: 1.0
 
 # trying smac hybrid planner
 # planner_server: