diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index d57616a..1c34911 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -4,9 +4,9 @@ clearing_rotation_allowed: true #false
 
 DWAPlannerROS:
    max_vel_trans: 1.0
-   min_vel_trans: 0.4 #0.2
+   min_vel_trans: 0.1 #0.2
    max_vel_x: 1.0
-   min_vel_x: 0.4 #0.2
+   min_vel_x: 0.1 #0.2
    max_vel_y: 0.0  # zero for a differential drive robot
    min_vel_y: 0.0
    min_in_place_vel_theta: 0.5
@@ -42,10 +42,10 @@ DWAPlannerROS:
    simple_attractor: false
 
    # # Trajectory Scoring Parameters
-   # path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
-   # goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
-   # occdist_scale: 0.5            # 0.01   - weighting for how much the controller should avoid obstacles
-   # forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
-   # stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
-   # scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
-   # max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.
+   path_distance_bias: 64.0      # 32.0   - weighting for how much it should stick to the global path plan
+   goal_distance_bias: 24.0      # 24.0   - wighting for how much it should attempt to reach its goal
+   occdist_scale: 0.5            # 0.01   - weighting for how much the controller should avoid obstacles
+   forward_point_distance: 0.325 # 0.325  - how far along to place an additional scoring point
+   stop_time_buffer: 0.2         # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
+   scaling_speed: 0.25           # 0.25   - absolute velocity at which to start scaling the robot's footprint
+   max_scaling_factor: 0.2       # 0.2    - how much to scale the robot's footprint when at speed.