diff --git a/src/rove_description/config/tracks_controllers.yaml b/src/rove_description/config/tracks_controllers.yaml
index 4831d55..f0dcfa8 100644
--- a/src/rove_description/config/tracks_controllers.yaml
+++ b/src/rove_description/config/tracks_controllers.yaml
@@ -66,8 +66,8 @@ diff_drive_controller:
     angular.z.has_velocity_limits: true
     angular.z.has_acceleration_limits: true
     angular.z.has_jerk_limits: false
-    angular.z.max_velocity: 2.0
-    angular.z.min_velocity: -2.0
+    angular.z.max_velocity: 5.0
+    angular.z.min_velocity: -5.0
     angular.z.max_acceleration: 3.0
     angular.z.min_acceleration: -3.0
     angular.z.max_jerk: 0.0
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
index b5a3744..dec91b8 100644
--- a/src/rove_description/urdf/rove.urdf.xacro
+++ b/src/rove_description/urdf/rove.urdf.xacro
@@ -51,7 +51,7 @@
      <!-- Put these at -1 to mock the motors if working without the motors -->
     <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
     <!-- TODO Fix rr Odrive, it keeps crashing the rest of the drives. IT has been disabled for now. -->
-    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="-1"/>
+    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
 
 
     <!-- Insert ovis on top of rove -->