diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index f868e69..af474b8 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: 0.35 # was 0.25
-      yaw_goal_tolerance: 0.35 # was 0.25
+      xy_goal_tolerance: 0.5 # was 0.25
+      yaw_goal_tolerance: 0.5 # was 0.25
       stateful: True
     FollowPath:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
@@ -208,7 +208,7 @@ controller_server:
       rotate_to_heading_angular_vel: 1.8
       transform_tolerance: 0.1
       use_velocity_scaled_lookahead_dist: false
-      min_approach_linear_velocity: 0.01 # was 0.05
+      min_approach_linear_velocity: 0.007 # was 0.05
       approach_velocity_scaling_dist: 0.6
       use_collision_detection: true
       max_allowed_time_to_collision_up_to_carrot: 1.0
@@ -223,7 +223,7 @@ controller_server:
       rotate_to_heading_min_angle: 0.785
       max_angular_accel: 3.2
       max_robot_pose_search_dist: 10.0
-      use_interpolation: true # was false
+      use_interpolation: false # was false
 
 
 local_costmap: