diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 307eb2f37a6..c4a5c1b1c6c 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -282,6 +282,33 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerLattice"
+      allow_unknown: true                 # Allow traveling in unknown space
+      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
+      max_iterations: 1000000             # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
+      max_planning_time: 5.0              # Max time in s for planner to plan, smooth
+      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
+      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
+      reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
+      change_penalty: 0.05                # Penalty to apply if motion is changing directions (L to R), must be >= 0
+      non_straight_penalty: 1.05          # Penalty to apply if motion is non-straight, must be => 1
+      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
+      rotation_penalty: 5.0               # Penalty to apply to in-place rotations, if minimum control set contains them
+      retrospective_penalty: 0.015
+      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
+      cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
+      allow_reverse_expansion: false      # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
+      debug_visualizations: true
+      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
 smoother_server:
   ros__parameters:
     smoother_plugins: ["simple_smoother"]
diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
index 2e3b93084f3..54d76044331 100644
--- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
+++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
@@ -53,6 +53,7 @@ class TaskResult(Enum):
 
 
 class BasicNavigator(Node):
+
     def __init__(self, node_name='basic_navigator', namespace=''):
         super().__init__(node_name=node_name, namespace=namespace)
         self.initial_pose = PoseStamped()
diff --git a/nav2_simple_commander/test/test_footprint_collision_checker.py b/nav2_simple_commander/test/test_footprint_collision_checker.py
index 070a7bc6e4b..8ffc4b653b9 100644
--- a/nav2_simple_commander/test/test_footprint_collision_checker.py
+++ b/nav2_simple_commander/test/test_footprint_collision_checker.py
@@ -23,6 +23,7 @@
 
 
 class TestFootprintCollisionChecker(unittest.TestCase):
+
     def test_no_costmap(self):
         # Test if a type error raised when costmap is not specified yet
         fcc_ = FootprintCollisionChecker()
diff --git a/nav2_simple_commander/test/test_line_iterator.py b/nav2_simple_commander/test/test_line_iterator.py
index 1360c183e7d..8bfb91588b1 100644
--- a/nav2_simple_commander/test/test_line_iterator.py
+++ b/nav2_simple_commander/test/test_line_iterator.py
@@ -19,6 +19,7 @@
 
 
 class TestLineIterator(unittest.TestCase):
+
     def test_type_error(self):
         # Test if a type error raised when passing invalid arguements types
         self.assertRaises(TypeError, LineIterator, 0, 0, '10', 10, '1')
diff --git a/nav2_system_tests/src/system/nav_to_pose_tester_node.py b/nav2_system_tests/src/system/nav_to_pose_tester_node.py
index 9ae201e9d60..0eca0680395 100755
--- a/nav2_system_tests/src/system/nav_to_pose_tester_node.py
+++ b/nav2_system_tests/src/system/nav_to_pose_tester_node.py
@@ -38,6 +38,7 @@
 
 
 class NavTester(Node):
+
     def __init__(self, initial_pose: Pose, goal_pose: Pose, namespace: str = ''):
         super().__init__(node_name='nav2_tester', namespace=namespace)
         self.initial_pose_pub = self.create_publisher(
diff --git a/nav2_system_tests/src/waypoint_follower/tester.py b/nav2_system_tests/src/waypoint_follower/tester.py
index ba9be41e9fe..b5df396006f 100755
--- a/nav2_system_tests/src/waypoint_follower/tester.py
+++ b/nav2_system_tests/src/waypoint_follower/tester.py
@@ -31,6 +31,7 @@
 
 
 class WaypointFollowerTest(Node):
+
     def __init__(self):
         super().__init__(node_name='nav2_waypoint_tester', namespace='')
         self.waypoints = None