diff --git a/src/navigation/obstacle_nav2/config/nav2_params.yaml b/src/navigation/obstacle_nav2/config/nav2_params.yaml
index 4f25cdd..359391a 100755
--- a/src/navigation/obstacle_nav2/config/nav2_params.yaml
+++ b/src/navigation/obstacle_nav2/config/nav2_params.yaml
@@ -76,11 +76,11 @@ controller_server:
       time_steps: 36
       model_dt: 0.05
       batch_size: 1000
-      vx_std: 0.2
+      vx_std: 0.75
       vy_std: 0.0
       wz_std: 0.4
-      vx_max: 0.5
-      vx_min: -0.30
+      vx_max: 1.75
+      vx_min: -0.75
       vy_max: 0.0
       wz_max: 1.5
       iteration_count: 1
@@ -109,9 +109,9 @@ controller_server:
         cost_weight: 3.0
         threshold_to_consider: 0.5
       PreferForwardCritic:
-        enabled: true
+        enabled: false
         cost_power: 1
-        cost_weight: 5.0
+        cost_weight: 0.0
         threshold_to_consider: 0.5
       CostCritic:
         enabled: true
@@ -144,7 +144,7 @@ controller_server:
         offset_from_furthest: 4
         threshold_to_consider: 0.5
         max_angle_to_furthest: 1.0
-        forward_preference: true
+        forward_preference: false
 
 controller_server_rclcpp_node:
   ros__parameters:
@@ -246,7 +246,7 @@ planner_server:
       analytic_expansion_ratio: 3.5
       analytic_expansion_max_length: 3.0
       minimum_turning_radius: 0.40
-      reverse_penalty: 1.3
+      reverse_penalty: 1.0
       change_penalty: 0.0
       non_straight_penalty: 1.2
       cost_penalty: 2.0
@@ -317,3 +317,18 @@ waypoint_follower:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: True
       waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: False
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [1.75, 0.0, 1.5]
+    min_velocity: [-0.75, 0.0, -1.5]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: /odom_combined
+    odom_duration: 0.1
+    deadband_velocity: [0.03, 0.0, 0.03]
+    velocity_timeout: 1.0
diff --git a/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-161449 b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-161449
new file mode 100755
index 0000000..4f25cdd
--- /dev/null
+++ b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-161449
@@ -0,0 +1,319 @@
+# ============================================================================
+# nav2_params.yaml — Odometry-only obstacle navigation
+#
+# No static map, no AMCL, no SLAM.
+# Both costmaps are rolling windows in odom. The launch file can rewrite every
+# global_frame leaf when a different connected odometry frame is required.
+# Global planner: Smac Hybrid A* (Reeds-Shepp)
+# Local controller: MPPI (Ackermann)
+# ============================================================================
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: False
+    global_frame: odom
+    robot_base_frame: base_footprint
+    odom_topic: /odom_combined
+    bt_loop_duration: 50
+    default_server_timeout: 20
+    # Injected by obstacle_nav2.launch.py from this package's share directory.
+    default_nav_to_pose_bt_xml: ""
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+controller_server:
+  ros__parameters:
+    use_sim_time: False
+    controller_frequency: 20.0
+    FollowPath:
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 36
+      model_dt: 0.05
+      batch_size: 1000
+      vx_std: 0.2
+      vy_std: 0.0
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.30
+      vy_max: 0.0
+      wz_max: 1.5
+      iteration_count: 1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "Ackermann"
+      visualize: false
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.4
+      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        critical_cost: 300.0
+        consider_footprint: true
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        forward_preference: true
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 10
+      height: 10
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+planner_server:
+  ros__parameters:
+    planner_plugins: ["GridBased"]
+    use_sim_time: False
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false
+      downsampling_factor: 1
+      tolerance: 0.25
+      allow_unknown: false
+      max_iterations: 1000000
+      max_on_approach_iterations: 1000
+      max_planning_time: 5.0
+      motion_model_for_search: "REEDS_SHEPP"
+      angle_quantization_bins: 72
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 3.0
+      minimum_turning_radius: 0.40
+      reverse_penalty: 1.3
+      change_penalty: 0.0
+      non_straight_penalty: 1.2
+      cost_penalty: 2.0
+      retrospective_penalty: 0.015
+      # 5 m covers the rolling planning horizon without the startup and memory
+      # cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
+      lookup_table_size: 5.0
+      cache_obstacle_heuristic: false
+      viz_expansions: false
+      smooth_path: True
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: False
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+      backup_dist: 0.8
+      backup_speed: 0.18
+    wait:
+      plugin: "nav2_behaviors/Wait"
+      wait_duration: 0.5
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.5
+    use_sim_time: False
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: False
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    use_sim_time: False
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
diff --git a/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163349 b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163349
new file mode 100755
index 0000000..7a69c40
--- /dev/null
+++ b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163349
@@ -0,0 +1,319 @@
+# ============================================================================
+# nav2_params.yaml — Odometry-only obstacle navigation
+#
+# No static map, no AMCL, no SLAM.
+# Both costmaps are rolling windows in odom. The launch file can rewrite every
+# global_frame leaf when a different connected odometry frame is required.
+# Global planner: Smac Hybrid A* (Reeds-Shepp)
+# Local controller: MPPI (Ackermann)
+# ============================================================================
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: False
+    global_frame: odom
+    robot_base_frame: base_footprint
+    odom_topic: /odom_combined
+    bt_loop_duration: 50
+    default_server_timeout: 20
+    # Injected by obstacle_nav2.launch.py from this package's share directory.
+    default_nav_to_pose_bt_xml: ""
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+controller_server:
+  ros__parameters:
+    use_sim_time: False
+    controller_frequency: 20.0
+    FollowPath:
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 36
+      model_dt: 0.05
+      batch_size: 1000
+      vx_std: 0.2
+      vy_std: 0.0
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.5
+      vy_max: 0.0
+      wz_max: 1.5
+      iteration_count: 1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "Ackermann"
+      visualize: false
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.4
+      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: false
+        cost_power: 1
+        cost_weight: 0.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        critical_cost: 300.0
+        consider_footprint: true
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        forward_preference: false
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 10
+      height: 10
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+planner_server:
+  ros__parameters:
+    planner_plugins: ["GridBased"]
+    use_sim_time: False
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false
+      downsampling_factor: 1
+      tolerance: 0.25
+      allow_unknown: false
+      max_iterations: 1000000
+      max_on_approach_iterations: 1000
+      max_planning_time: 5.0
+      motion_model_for_search: "REEDS_SHEPP"
+      angle_quantization_bins: 72
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 3.0
+      minimum_turning_radius: 0.40
+      reverse_penalty: 1.0
+      change_penalty: 0.0
+      non_straight_penalty: 1.2
+      cost_penalty: 2.0
+      retrospective_penalty: 0.015
+      # 5 m covers the rolling planning horizon without the startup and memory
+      # cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
+      lookup_table_size: 5.0
+      cache_obstacle_heuristic: false
+      viz_expansions: false
+      smooth_path: True
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: False
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+      backup_dist: 0.8
+      backup_speed: 0.18
+    wait:
+      plugin: "nav2_behaviors/Wait"
+      wait_duration: 0.5
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.5
+    use_sim_time: False
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: False
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    use_sim_time: False
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
diff --git a/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163720 b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163720
new file mode 100755
index 0000000..af7a367
--- /dev/null
+++ b/src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260723-163720
@@ -0,0 +1,334 @@
+# ============================================================================
+# nav2_params.yaml — Odometry-only obstacle navigation
+#
+# No static map, no AMCL, no SLAM.
+# Both costmaps are rolling windows in odom. The launch file can rewrite every
+# global_frame leaf when a different connected odometry frame is required.
+# Global planner: Smac Hybrid A* (Reeds-Shepp)
+# Local controller: MPPI (Ackermann)
+# ============================================================================
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: False
+    global_frame: odom
+    robot_base_frame: base_footprint
+    odom_topic: /odom_combined
+    bt_loop_duration: 50
+    default_server_timeout: 20
+    # Injected by obstacle_nav2.launch.py from this package's share directory.
+    default_nav_to_pose_bt_xml: ""
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+controller_server:
+  ros__parameters:
+    use_sim_time: False
+    controller_frequency: 20.0
+    FollowPath:
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 36
+      model_dt: 0.05
+      batch_size: 1000
+      vx_std: 0.2
+      vy_std: 0.0
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.5
+      vy_max: 0.0
+      wz_max: 1.5
+      iteration_count: 1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "Ackermann"
+      visualize: false
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.4
+      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: false
+        cost_power: 1
+        cost_weight: 0.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        critical_cost: 300.0
+        consider_footprint: true
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        forward_preference: false
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: False
+      rolling_window: true
+      width: 10
+      height: 10
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      track_unknown_space: false
+      plugins: ["obstacle_array_layer", "inflation_layer"]
+      obstacle_array_layer:
+        plugin: "obstacle_nav2::ObstacleArrayLayer"
+        enabled: true
+        topic: /obstacles
+        obstacle_timeout: 0.5
+        transform_tolerance: 0.2
+        default_obstacle_radius: 0.05
+        minimum_obstacle_radius: 0.02
+        maximum_obstacle_radius: 0.50
+        extra_inflation: 0.02
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: False
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: False
+
+planner_server:
+  ros__parameters:
+    planner_plugins: ["GridBased"]
+    use_sim_time: False
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false
+      downsampling_factor: 1
+      tolerance: 0.25
+      allow_unknown: false
+      max_iterations: 1000000
+      max_on_approach_iterations: 1000
+      max_planning_time: 5.0
+      motion_model_for_search: "REEDS_SHEPP"
+      angle_quantization_bins: 72
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 3.0
+      minimum_turning_radius: 0.40
+      reverse_penalty: 1.0
+      change_penalty: 0.0
+      non_straight_penalty: 1.2
+      cost_penalty: 2.0
+      retrospective_penalty: 0.015
+      # 5 m covers the rolling planning horizon without the startup and memory
+      # cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
+      lookup_table_size: 5.0
+      cache_obstacle_heuristic: false
+      viz_expansions: false
+      smooth_path: True
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: False
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: False
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+      backup_dist: 0.8
+      backup_speed: 0.18
+    wait:
+      plugin: "nav2_behaviors/Wait"
+      wait_duration: 0.5
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.5
+    use_sim_time: False
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: False
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    use_sim_time: False
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: False
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.5, 0.0, 1.5]
+    min_velocity: [-0.5, 0.0, -1.5]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: /odom_combined
+    odom_duration: 0.1
+    deadband_velocity: [0.03, 0.0, 0.03]
+    velocity_timeout: 1.0
diff --git a/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py b/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
index e98f616..391609d 100755
--- a/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
+++ b/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
@@ -43,7 +43,7 @@ def generate_launch_description():
     global_frame = LaunchConfiguration('global_frame', default='odom')
     use_static_map = LaunchConfiguration('use_static_map', default='false')
     map_yaml = LaunchConfiguration('map_yaml', default='')
-    enable_motion = LaunchConfiguration('enable_motion', default='false')
+    enable_motion = LaunchConfiguration('enable_motion', default='true')
     start_base = LaunchConfiguration('start_base', default='true')
     start_lidar = LaunchConfiguration('start_lidar', default='true')
     start_obstacle_scanner = LaunchConfiguration('start_obstacle_scanner', default='true')