diff --git a/params/global_planner/iri_opendrive_params.yaml b/params/global_planner/iri_opendrive_params.yaml
index 6aaa42b8b930d49938fcd2b6ee5ecf953bd2c0fa..45e7c0e11bbb974e4e007f8c1aa95f133b3227e5 100644
--- a/params/global_planner/iri_opendrive_params.yaml
+++ b/params/global_planner/iri_opendrive_params.yaml
@@ -1,5 +1,6 @@
 base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
 OpendriveGlobalPlanner:
+  opendrive_frame: "opendrive"
   angle_tol: 0.5
   dist_tol: 0.3
   multi_hyp: True
diff --git a/params/local_planner/ackermann_params.yaml b/params/local_planner/ackermann_params.yaml
index 5481d7b2fd3b4fd20e05d1bd880daa3663a7d1c5..ffb3703d07d1efd9465db3571043bf425d033831 100644
--- a/params/local_planner/ackermann_params.yaml
+++ b/params/local_planner/ackermann_params.yaml
@@ -42,6 +42,9 @@ AckermannPlannerROS:
   wheel_distance: 0.265
   wheel_radius: 0.05
 
+  use_trans_vel_deadzone: true
+  trans_vel_deadzone: 0.1
+
   split_ignore_length: 0.1
 
   cmd_vel_avg: 1