# How to improve the speed of dwa in base_local_planner? [closed]

I am using base_local_planer as local planner. However, with same parameters, the speed of robot from Dynamic Window Approach(DWA) is smaller than with Trajectory Rollout(TR). The "max_vel_x" is set to be 2.0( m/s) ( with non-holonomic mobile model). It is easy to reach this maximum speed when controleld by Trajectory Rollout.

However, when paramer "dwa" is set to be true, the maximum value from topic /cmd_vel is about 0.25(m/s) . It is same situation when dwa_local_planner is used.

Could someone tell me how to solve this problem ? Thanks.