diff --git a/src/elephant_robotics/agv_pro_description/urdf/parts/wheel_macro.xacro b/src/elephant_robotics/agv_pro_description/urdf/parts/wheel_macro.xacro
index 4e7196e..074b106 100644
--- a/src/elephant_robotics/agv_pro_description/urdf/parts/wheel_macro.xacro
+++ b/src/elephant_robotics/agv_pro_description/urdf/parts/wheel_macro.xacro
@@ -86,7 +86,8 @@
                     <surface>
                         <friction>
                             <ode>
-                                <mu>1.0</mu>
+                             
+                                <mu>5.0</mu>
                                 <mu2>0.0</mu2>
                                 <xacro:if value="${reflect}">
                                     <fdir1
@@ -98,12 +99,6 @@
                                 </xacro:unless>
                             </ode>
                         </friction>
-                        <contact>
-                            <ode>
-                                <kp>100000.0</kp>
-                                <kd>10.0</kd>
-                            </ode>
-                        </contact>
                     </surface>
                 </collision>
             </gazebo>
diff --git a/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml b/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
index cc4b7be..cb2a4c7 100644
--- a/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
+++ b/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
@@ -29,6 +29,13 @@ mecanum_drive_controller:
     base_frame_id:  base_footprint
     enable_odom_tf: true
 
+    # How long a /cmd_vel (reference) command stays valid, in seconds. The
+    # controller default is 0.0, which treats every command as instantly expired
+    # and so mostly halts between messages — the wheels only reached ~16-31% of
+    # the commanded speed and the robot crawled. 0.5 s holds the last command
+    # between messages (standard cmd_vel behaviour) so the wheels run at speed.
+    reference_timeout: 0.5
+
     kinematics:
       wheels_radius: 0.072  # 轮子半径 (wheel centre height above ground)
       # sum_of_robot_center_projection_on_X_Y_axis = lx + ly (0.172 + 0.180)
diff --git a/src/elephant_robotics/agv_pro_navigation2/param/nav2_sim.yaml b/src/elephant_robotics/agv_pro_navigation2/param/nav2_sim.yaml
index 4887924..3dd28be 100644
--- a/src/elephant_robotics/agv_pro_navigation2/param/nav2_sim.yaml
+++ b/src/elephant_robotics/agv_pro_navigation2/param/nav2_sim.yaml
@@ -81,9 +81,15 @@ controller_server:
     use_realtime_priority: false
 
     # Progress checker parameters
+    # PoseProgressChecker (not SimpleProgressChecker) so that in-place rotation
+    # counts as progress. At the goal the holonomic base often must rotate to
+    # meet yaw_goal_tolerance; SimpleProgressChecker only credits *translation*
+    # (required_movement_radius) so that final yaw alignment tripped "Failed to
+    # make progress" -> recovery spin -> rotated further off goal -> Goal failed.
     progress_checker:
-      plugin: "nav2_controller::SimpleProgressChecker"
+      plugin: "nav2_controller::PoseProgressChecker"
       required_movement_radius: 0.5
+      required_movement_angle: 0.5
       movement_time_allowance: 10.0
     # Goal checker parameters
     #precise_goal_checker: