diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 3e73f85..7ef4cd1 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -436,7 +436,7 @@ controller_server:
     # DWB controller parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
+      debug_trajectory_details: False
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26
@@ -462,7 +462,7 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       GoalAlign.scale: 24.0
@@ -473,6 +473,7 @@ controller_server:
       RotateToGoal.scale: 32.0
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
+      TwirlingCritic.scale: 1.0
 
 local_costmap:
   local_costmap: