diff --git a/rosbot_controller/config/diff_drive_controller.yaml b/rosbot_controller/config/diff_drive_controller.yaml
index 5355f598..a7730a31 100644
--- a/rosbot_controller/config/diff_drive_controller.yaml
+++ b/rosbot_controller/config/diff_drive_controller.yaml
@@ -26,13 +26,13 @@
     left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
     right_wheel_names: [fr_wheel_joint, rr_wheel_joint]
 
-    wheel_separation: 0.186
+    wheel_separation: 0.195
     wheel_radius: 0.0425
 
     # For skid drive kinematics it will act as ICR coefficient
     # Kinematic model with ICR coefficient isn't totally accurate and this coefficient can differ
     # for various ground types, but checking on our office floor 1.3 looked approximately alright
-    wheel_separation_multiplier: 1.45
+    wheel_separation_multiplier: 1.3
 
     left_wheel_radius_multiplier: 1.0
     right_wheel_radius_multiplier: 1.0
diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
index 6e162921..798d310a 100644
--- a/rosbot_controller/package.xml
+++ b/rosbot_controller/package.xml
@@ -24,6 +24,7 @@
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
+  <exec_depend>nav2_common</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros_components_description</exec_depend>
   <exec_depend>rosbot_description</exec_depend>