diff --git a/darwin_nav/config/dwa_local_planner_params.yaml b/darwin_nav/config/dwa_local_planner_params.yaml
index 974a25acfca4ce4cd26e982e86f5dfea5a953b46..d33edd48b91c203866143cf53f41249c4c2f2d95 100644
--- a/darwin_nav/config/dwa_local_planner_params.yaml
+++ b/darwin_nav/config/dwa_local_planner_params.yaml
@@ -1,16 +1,16 @@
 base_local_planner: "dwa_local_planner/DWAPlannerROS"
 
 DWAPlannerROS:
-  max_trans_vel: 0.24
+  max_trans_vel: 0.1
   min_trans_vel: 0.01
-  max_vel_x: 0.24 
-  min_vel_x: -0.24 
-  max_vel_y: 0.1 
-  min_vel_y: -0.1
-  max_rot_vel: 0.1
-  min_rot_vel: 0.01 
-
-  sim_time: 3
+  max_vel_x: 0.1 
+  min_vel_x: -0.1 
+  max_vel_y: 0.0 
+  min_vel_y: 0.0
+  max_rot_vel: 0.4
+  min_rot_vel: 0.1 
+
+  sim_time: 10
   sim_granularity: 0.025
   angular_sim_granularity: 0.1
 
@@ -26,14 +26,14 @@ DWAPlannerROS:
   scaling_speed: 0.25
   max_scaling_factor: 0.2
 
-  vx_samples: 10
-  vy_samples: 10 
+  vx_samples: 21
+  vy_samples: 1 
   vth_samples: 20
 
-  acc_lim_theta: 0.1 
-  acc_lim_x: 0.1 
-  acc_lim_y: 0.1
-  acc_limit_trans: 0.1
+  acc_lim_theta: 0.3 
+  acc_lim_x: 0.3
+  acc_lim_y: 0.3
+  acc_limit_trans: 0.3
 
   rot_stopped_vel: 0.01
   trans_stopped_vel: 0.01
diff --git a/darwin_nav/launch/darwin_global_loc_sim.launch b/darwin_nav/launch/darwin_global_loc_sim.launch
index c8581e15dab444f7ffea7304a5637a40da647730..849aaf93d33373874c46009c7ef13fa5412773aa 100644
--- a/darwin_nav/launch/darwin_global_loc_sim.launch
+++ b/darwin_nav/launch/darwin_global_loc_sim.launch
@@ -5,8 +5,8 @@
           name="qr_detector"
           type="qr_detector"
           output="screen">
-      <param name="qr_x" value="0.14"/>
-      <param name="qr_y" value="0.14"/>
+      <param name="qr_x" value="0.2"/>
+      <param name="qr_y" value="0.2"/>
       <param name="camera_frame" value="/darwin/darwin_cam_link"/>
       <remap from="~/camera/image_raw" to="/darwin/camera/image_raw"/>
       <remap from="~/camera/camera_info" to="/darwin/camera/camera_info"/>
@@ -16,7 +16,7 @@
           name="qr_global_loc"
           type="qr_global_loc"
           output="screen">
-      <param name="qr_map_param" value="/charge_env/robot_description"/>
+      <param name="qr_map_param" value="/obstacles_environment"/>
       <param name="tf_prefix" value="/darwin"/>
       <param name="publish_tf" value="True"/>
       <param name="publish_rate" value="20"/>
diff --git a/darwin_nav/launch/darwin_nav_sim.launch b/darwin_nav/launch/darwin_nav_sim.launch
index 3cf80c4aa63c9f1fc26161eba304618058f1021e..0d1e93eb334bb4521ce9ecca961edf5d5669acd1 100644
--- a/darwin_nav/launch/darwin_nav_sim.launch
+++ b/darwin_nav/launch/darwin_nav_sim.launch
@@ -2,13 +2,13 @@
 <launch>
 
   <arg name="robot" default="darwin" />
-  <arg name="environment" default="charge_env" />
+  <arg name="environment" default="obstacles_env_empty" />
 
   <include file="$(find darwin_description)/launch/darwin_sim.launch">
     <arg name="robot" value="$(arg robot)" />
   </include>
 
-  <include file="$(find darwin_description)/launch/charge_env.launch">
+  <include file="$(find bioloid_description)/launch/obstacles_env.launch">
     <arg name="environment" value="$(arg environment)" />
   </include>