diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index f8fa6a33b5..467bad805d 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -68,6 +68,7 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
+    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -98,6 +99,10 @@ controller_server:
       time_steps: 56
       model_dt: 0.05
       batch_size: 2000
+      ax_max: 3.0
+      ax_min: -3.0
+      ay_max: 3.0
+      az_max: 3.5
       vx_std: 0.2
       vy_std: 0.2
       wz_std: 0.4
@@ -272,6 +277,7 @@ planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
+    costmap_update_timeout: 1.0
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
@@ -368,4 +374,58 @@ collision_monitor:
       topic: "scan"
       min_height: 0.15
       max_height: 2.0
-      enabled: True
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+      enabled: True
+
+docking_server:
+  ros__parameters:
+    controller_frequency: 50.0
+    initial_perception_timeout: 5.0
+    wait_charge_timeout: 5.0
+    dock_approach_timeout: 30.0
+    undock_linear_tolerance: 0.05
+    undock_angular_tolerance: 0.1
+    max_retries: 3
+    base_frame: "base_link"
+    fixed_frame: "odom"
+    dock_backwards: false
+    dock_prestaging_tolerance: 0.5
+
+    # Types of docks
+    dock_plugins: ['simple_charging_dock']
+    simple_charging_dock:
+      plugin: 'opennav_docking::SimpleChargingDock'
+      docking_threshold: 0.05
+      staging_x_offset: -0.7
+      use_external_detection_pose: true
+      use_battery_status: false # true
+      use_stall_detection: false # true
+
+      external_detection_timeout: 1.0
+      external_detection_translation_x: -0.18
+      external_detection_translation_y: 0.0
+      external_detection_rotation_roll: -1.57
+      external_detection_rotation_pitch: -1.57
+      external_detection_rotation_yaw: 0.0
+      filter_coef: 0.1
+
+    # Dock instances
+    # The following example illustrates configuring dock instances.
+    # docks: ['home_dock']  # Input your docks here
+    # home_dock:
+    #   type: 'simple_charging_dock'
+    #   frame: map
+    #   pose: [0.0, 0.0, 0.0]
+
+    controller:
+      k_phi: 3.0
+      k_delta: 2.0
+      v_linear_min: 0.15
+      v_linear_max: 0.15
+
+loopback_simulator:
+  ros__parameters:
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    map_frame_id: "map"
+    scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
+    update_duration: 0.02
\ No newline at end of file