diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index c5c1b50..b16ce10 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -195,8 +195,8 @@ controller_server:
       movement_time_allowance: 10.0
     goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.1 # was 0.25
-      yaw_goal_tolerance: 0.1 # was 0.25
+      xy_goal_tolerance: 0.25 # was 0.25
+      yaw_goal_tolerance: 0.25 # was 0.25
       stateful: True
     FollowPath:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
@@ -218,7 +218,7 @@ controller_server:
       use_cost_regulated_linear_velocity_scaling: false
       regulated_linear_scaling_min_radius: 0.9
       regulated_linear_scaling_min_speed: 0.25
-      use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
+      use_rotate_to_heading: true # was true, cannot be set together with allow_reversing
       allow_reversing: true # was false
       rotate_to_heading_min_angle: 0.785
       max_angular_accel: 3.2