diff --git a/toid_behaviors/src/rotate_acorns.cpp b/toid_behaviors/src/rotate_acorns.cpp
index 405ca0a..98c3a15 100644
--- a/toid_behaviors/src/rotate_acorns.cpp
+++ b/toid_behaviors/src/rotate_acorns.cpp
@@ -21,7 +21,7 @@ void RotateAcorns::configureCB()
   node->get_parameter(behavior_name_ + ".max_angular_vel", max_angular_speed_);
 
   nav2_util::declare_parameter_if_not_declared(
-    node, behavior_name_ + ".min_angular_vel", rclcpp::ParameterValue(0.2));
+    node, behavior_name_ + ".min_angular_vel", rclcpp::ParameterValue(0.1));
   node->get_parameter(behavior_name_ + ".min_angular_vel", min_angular_speed_);
 
   nav2_util::declare_parameter_if_not_declared(
@@ -29,7 +29,7 @@ void RotateAcorns::configureCB()
   node->get_parameter(behavior_name_ + ".max_angular_accel", max_angular_accel_);
 
   nav2_util::declare_parameter_if_not_declared(
-    node, behavior_name_ + ".max_angular_decel", rclcpp::ParameterValue(1.0));
+    node, behavior_name_ + ".max_angular_decel", rclcpp::ParameterValue(0.5));
   node->get_parameter(behavior_name_ + ".max_angular_decel", max_angular_decel_);
 
   nav2_util::declare_parameter_if_not_declared(
@@ -155,6 +155,10 @@ ResultStatus RotateAcorns::updateVel(
   const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist &,
   geometry_msgs::msg::Twist & out_vel)
 {
+  {
+    std::lock_guard _lock(mutex_);
+    target_angle_ = new_target_angle_;
+  }
   const double current_yaw = tf2::getYaw(pose.orientation);
   double min_turn_angle = min_turn_angle_;
   double angular_speed = angular_speed_;