diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b1b6415..192d8d5 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -525,32 +525,39 @@ map_saver:
 #       #use_astar: false
 #       allow_unknown: true
 
-# trying smac lattice planner
+# trying smac hybrid planner
 planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
-    use_sim_time: False
+    use_sim_time: True
 
     GridBased:
-      plugin: "nav2_smac_planner/SmacPlannerLattice"
-      allow_unknown: true                 # Allow traveling in unknown space
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false           # whether or not to downsample the map
+      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
       tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
-      max_iterations: 1000000             # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      allow_unknown: true                 # allow traveling in unknown space
+      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
       max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
-      max_planning_time: 5.0              # Max time in s for planner to plan, smooth
+      max_planning_time: 5.0              # max time in s for planner to plan, smooth
+      motion_model_for_search: "DUBIN"    # Hybrid-A* Dubin, Redds-Shepp
+      angle_quantization_bins: 72         # Number of angle bins for search
       analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
       analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
+      minimum_turning_radius: 0.40        # minimum turning radius in m of path / vehicle
       reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
-      change_penalty: 0.05                # Penalty to apply if motion is changing directions (L to R), must be >= 0
-      non_straight_penalty: 1.05          # Penalty to apply if motion is non-straight, must be => 1
+      change_penalty: 0.0                 # Penalty to apply if motion is changing directions (L to R), must be >= 0
+      non_straight_penalty: 1.2           # Penalty to apply if motion is non-straight, must be => 1
       cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
-      rotation_penalty: 5.0               # Penalty to apply to in-place rotations, if minimum control set contains them
       retrospective_penalty: 0.015
-      lattice_filepath: ""                # The filepath to the state lattice graph
       lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
       cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
-      allow_reverse_expansion: false      # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
+      debug_visualizations: false         # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
+      use_quadratic_cost_penalty: False
+      downsample_obstacle_heuristic: True
+      allow_primitive_interpolation: False
       smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
+
       smoother:
         max_iterations: 1000
         w_smooth: 0.3