diff --git a/toid_behaviors/src/approach_acorns.cpp b/toid_behaviors/src/approach_acorns.cpp
index f8ce5e9..1a8bad1 100644
--- a/toid_behaviors/src/approach_acorns.cpp
+++ b/toid_behaviors/src/approach_acorns.cpp
@@ -68,7 +68,7 @@ void ApproachAcorns::activateCB()
   auto node = node_.lock();
   using namespace std::placeholders;
   acorn_pose_sub_ = node->create_subscription<PoseStamped>(
-    "closest_acorn", rclcpp::QoS(1), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
+    "closest_acorn", rclcpp::QoS(2), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
   target_pose_pub_->on_activate();
   distance_ = 1.0;
 }
diff --git a/toid_behaviors/src/rotate_acorns.cpp b/toid_behaviors/src/rotate_acorns.cpp
index 044d574..c6292b5 100644
--- a/toid_behaviors/src/rotate_acorns.cpp
+++ b/toid_behaviors/src/rotate_acorns.cpp
@@ -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(4.0));
+    node, behavior_name_ + ".max_angular_decel", rclcpp::ParameterValue(1.0));
   node->get_parameter(behavior_name_ + ".max_angular_decel", max_angular_decel_);
 
   nav2_util::declare_parameter_if_not_declared(
@@ -43,7 +43,7 @@ void RotateAcorns::activateCB()
   auto node = node_.lock();
   using namespace std::placeholders;
   acorn_pose_sub_ = node->create_subscription<PoseStamped>(
-    "closest_acorn", rclcpp::QoS(1), std::bind(&RotateAcorns::acorn_position_cb, this, _1));
+    "closest_acorn", rclcpp::QoS(2), std::bind(&RotateAcorns::acorn_position_cb, this, _1));
   distance_ = 1.0;
 }
 
diff --git a/toid_vision/src/toid_vision.cpp b/toid_vision/src/toid_vision.cpp
index c59f2fd..4b0dadc 100644
--- a/toid_vision/src/toid_vision.cpp
+++ b/toid_vision/src/toid_vision.cpp
@@ -37,7 +37,7 @@ NutDetector::NutDetector(const rclcpp::NodeOptions & options)
   RCLCPP_INFO(this->get_logger(), "NutDetector activated... scanning for DEEZ NUTZ");
 
   pose_pub_ =
-    this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(1));
+    this->create_publisher<geometry_msgs::msg::PoseStamped>("/closest_acorn", rclcpp::QoS(5));
   flip_pub_ = this->create_publisher<std_msgs::msg::String>("/to_flip", rclcpp::QoS(1));
 }