nav2 params for minimum rotation speed of robot

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Hello All,

I finally have ros-humble running on my hardware, and I have been able to run the nav2 stack with success.

When the robot is executing a spin, the nav stack sends to robot angular velocity of 0.2 radians / second. Given the size of my robot, which translates to 2.78 rpms, which my PID controller is having a hard time adjusting to.

I understand I can tune my PID controller, or even make it use smaller constrants for low speeds, but however, is there any way to define min_theta used when spinning the robot?

in nav2_params.yaml file there are some definitions for max and min theta, but I am not sure which one is which.

Best Regards, C.