diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 27789c2..07e3495 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -181,7 +181,7 @@ bt_navigator_navigate_to_pose_rclcpp_node:
 controller_server:
   ros__parameters:
     use_sim_time: True
-    controller_frequency: 20.0
+    controller_frequency: 100.0 # was 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001