diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 8863237..e03d139 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -111,9 +111,9 @@ bt_navigator_navigate_to_pose_rclcpp_node:
 controller_server:
   ros__parameters:
     use_sim_time: True
-    controller_frequency: 20.0
+    controller_frequency: 50.0
     min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
+    min_y_velocity_threshold: 0.001
     min_theta_velocity_threshold: 0.001
     failure_tolerance: 0.3
     progress_checker_plugin: "progress_checker"
@@ -156,18 +156,18 @@ controller_server:
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26
-      max_vel_y: 0.0
+      max_vel_y: 0.26
       max_vel_theta: 1.0
       min_speed_xy: 0.001
       max_speed_xy: 0.26
       min_speed_theta: 0.0
       # Add high threshold velocity for turtlebot 3 issue.
       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 0.05 # was 2.5
-      acc_lim_y: 0.1
+      acc_lim_x: 0.02 # was 2.5
+      acc_lim_y: 0.02
       acc_lim_theta: 1.0 # was 3.2
-      decel_lim_x: -0.05 # was -2.5
-      decel_lim_y: 0.0
+      decel_lim_x: -0.02 # was -2.5
+      decel_lim_y: -0.02
       decel_lim_theta: -0.1 # was -3.2
       vx_samples: 20
       vy_samples: 5
@@ -195,7 +195,7 @@ controller_server:
 local_costmap:
   local_costmap:
     ros__parameters:
-      update_frequency: 10.0 # was 5.0
+      update_frequency: 20.0 # was 5.0
       publish_frequency: 5.0 # was 2.0
       global_frame: odom
       robot_base_frame: base_link