diff --git a/nav2_mppi_controller/README.md b/nav2_mppi_controller/README.md
index 893ed426a56..15f6fa6c729 100644
--- a/nav2_mppi_controller/README.md
+++ b/nav2_mppi_controller/README.md
@@ -171,6 +171,15 @@ Uses inflated costmap cost directly to avoid obstacles
  | cost_weight           | double | Default 10.0. Weight to apply to critic term.                                                               |
  | cost_power            | int    | Default 1. Power order to apply to term.                                                                    |
 
+
+#### Velocity Deadband Critic
+ | Parameter             | Type     | Definition                                                                                                  |
+ | ---------------       | ------   | ----------------------------------------------------------------------------------------------------------- |
+ | cost_weight           | double   | Default 100.0. Weight to apply to critic term. (100.0 fits for turtlebot3, 35.0 for linorobot2)             |
+ | cost_power            | int      | Default 1. Power order to apply to term.                                                                    |
+ | deadband_velocities   | double[] | Default [0.0, 0.0, 0.0].  The array of deadband velocities [vx, vz, wz]. A zero array indicates that the critic will take no action.      |
+
+
 ### XML configuration example
 ```
 controller_server:
@@ -200,7 +209,7 @@ controller_server:
         time_step: 3
       AckermannConstraints:
         min_turning_r: 0.2
-      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
+      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic", "VelocityDeadbandCritic"]
       ConstraintCritic:
         enabled: true
         cost_power: 1
@@ -262,6 +271,11 @@ controller_server:
         threshold_to_consider: 0.5
         max_angle_to_furthest: 1.0
         forward_preference: true
+      VelocityDeadbandCritic:
+        enabled: false
+        cost_power: 1
+        cost_weight: 100.0
+        deadband_velocities: [0.08, 0.08, 0.08]
       # TwirlingCritic:
       #   enabled: true
       #   twirling_cost_power: 1
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp
index 9b22bf77d3a..76e1dbd670f 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp
@@ -15,6 +15,8 @@
 #ifndef NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_
 #define NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_
 
+#include <vector>
+
 #include "nav2_mppi_controller/critic_function.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
 #include "nav2_mppi_controller/tools/utils.hpp"
diff --git a/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp b/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp
index e5e6ef66331..d2b60746f88 100644
--- a/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp
+++ b/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp
@@ -22,7 +22,7 @@ void VelocityDeadbandCritic::initialize()
   auto getParam = parameters_handler_->getParamGetter(name_);
 
   getParam(power_, "cost_power", 1);
-  getParam(weight_, "cost_weight", 4.0);
+  getParam(weight_, "cost_weight", 100.0);
 
   // Recast double to float
   std::vector<double> deadband_velocities{0.0, 0.0, 0.0};
diff --git a/nav2_mppi_controller/test/critics_tests.cpp b/nav2_mppi_controller/test/critics_tests.cpp
index cba9c312175..be24393bfe7 100644
--- a/nav2_mppi_controller/test/critics_tests.cpp
+++ b/nav2_mppi_controller/test/critics_tests.cpp
@@ -649,10 +649,11 @@ TEST(CriticTests, VelocityDeadbandCritic)
   critic.score(data);
   EXPECT_NEAR(xt::sum(costs, immediate)(), 0, 1e-6);
 
-  // provide velocities inside deadband bounds, should have non-zero costs
+  // Test cost value
   state.vx = 0.01 * xt::ones<float>({1000, 30});
   state.vy = 0.02 * xt::ones<float>({1000, 30});
   state.wz = 0.021 * xt::ones<float>({1000, 30});
   critic.score(data);
-  EXPECT_GT(xt::sum(costs, immediate)(), 0.0f);
+  // 100.0 weight * 0.1 model_dt * (0.07 + 0.06 + 0.059) * 30 timesteps = 56.7
+  EXPECT_NEAR(costs(1), 56.7, 0.01);
 }