diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 0dfd44c..4be2ea6 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -435,7 +435,15 @@ controller_server:
       stateful: True
     # DWB controller parameters
     FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
+      plugin: "nav2_rotation_shim_controller::RotationShimController"
+      primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      angular_dist_threshold: 0.785
+      forward_sampling_distance: 0.5
+      rotate_to_heading_angular_vel: 1.8
+      max_angular_accel: 1.2
+      simulate_ahead_time: 1.0
+
+      # Primary controller params can be placed here below
       debug_trajectory_details: False
       min_vel_x: 0.0
       min_vel_y: 0.0