diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index c90b9f8..c8c1402 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -339,7 +339,8 @@ velocity_smoother:
     use_sim_time: True
     smoothing_frequency: 20.0
     scale_velocities: False
-    feedback: "OPEN_LOOP"
+    #feedback: "OPEN_LOOP"
+    feedback: "CLOSED_LOOP"
     max_velocity: [0.26, 0.0, 1.0]
     min_velocity: [-0.26, 0.0, -1.0]
     max_accel: [2.5, 0.0, 3.2]