diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b8783ce..202958e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -437,11 +437,12 @@ controller_server:
     FollowPath:
       plugin: "nav2_rotation_shim_controller::RotationShimController"
       primary_controller: "dwb_core::DWBLocalPlanner"
+      # RotaitonShimController parameters:
       angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
       forward_sampling_distance: 0.5
-      rotate_to_heading_angular_vel: 1.8
+      rotate_to_heading_angular_vel: 2.8 # was 1.8
       max_angular_accel: 1.2
-      simulate_ahead_time: 1.0
+      simulate_ahead_time: 2.0 # was 1.0
 
       # Primary controller params can be placed here below
       debug_trajectory_details: False