diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py
index cca8d9f..1cab2d1 100644
--- a/rmp220_middleware/rmp220_middleware.py
+++ b/rmp220_middleware/rmp220_middleware.py
@@ -133,7 +133,7 @@ class StateMachineNode(Node):
             else:
                 self.timeout -= 0.01 # at a rate of 100 Hz this equals to -1 per second.
                 self.cmd_vel_pub.publish(self.latest_cmd_vel)
-        if self.state == State.DISABLED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2
+        if self.state == State.DISABLED and (self.abs_x > 0.02 or self.abs_z > 0.02): # This is a hack to enable the chassis when receiving commands e.g. from Nav2
             self.state = State.ENABLED
             self.get_logger().info("State: ENABLED (cmd_vel)")
             self.enable_chassis()