diff --git a/src/dcaiti_control/config/dcaiti_config.yml b/src/dcaiti_control/config/dcaiti_config.yml
index c5d13f5..8ebcc3b 100644
--- a/src/dcaiti_control/config/dcaiti_config.yml
+++ b/src/dcaiti_control/config/dcaiti_config.yml
@@ -24,10 +24,19 @@ diff_cont:
 
     linear:
       x:
-        has_velocity_limits: true
-        max_velocity: 0.5
+        has_velocity_limits    : true
+        max_velocity           : 1.0  # m/s
+        min_velocity           : -0.5 # m/s
         has_acceleration_limits: true
-        max_acceleration: 0.2
+        max_acceleration       : 0.6  # m/s^2
+        min_acceleration       : -0.3 # m/s^2
+    angular:
+      z:
+        has_velocity_limits    : true
+        max_velocity           : 1.0  # rad/s
+        has_acceleration_limits: true
+        max_acceleration       : 0.8  # rad/s^2
+
 
 joint_limits:
   ros__parameters:
diff --git a/start.bash b/start.bash
index 590f058..f8c60df 100755
--- a/start.bash
+++ b/start.bash
@@ -8,6 +8,7 @@ declare -a windows=(
     "base" 
     "remote_control"
     "lidar"
+#    "slam"
     "nav2"
 )
 declare -a work_dirs=(
@@ -15,16 +16,16 @@ declare -a work_dirs=(
     $DCAITI_PATH
     $DCAITI_PATH/src/dcaitirobot/launch
     $DCAITI_PATH
-    $DCAITI_PATH/src/dcaitirobot/launch
-    #$DCAITI_PATH/src/dcaiti_navigation/launch
+ #   $DCAITI_PATH/src/dcaitirobot/launch
+    $DCAITI_PATH/src/dcaiti_navigation/launch
 )
 declare -a commands=(
     "htop"
     "ros2 launch dcaiti_control launch_robot.py"
     "ros2 launch remote_control_launch.py"
     "ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py"
-    "ros2 launch launch_slam.py"
-    #"ros2 launch start_nav2.py"
+  #  "ros2 launch launch_slam.py"
+    "ros2 launch start_nav2.py"
 )
 
 # Start tmux