diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 5f0e6e775d1..0e3427a17b8 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -277,12 +277,34 @@ planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      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"]