diff --git a/src/TimedPlanner.cpp b/src/TimedPlanner.cpp
index 8f08d95f8e5f3da0397d9f86c9c1e2ffe00be1a6..a1d019459df0269320acb37ab72d2d3e64bb0566 100644
--- a/src/TimedPlanner.cpp
+++ b/src/TimedPlanner.cpp
@@ -184,16 +184,16 @@ void doMotion(const ros::NodeHandle &node_handle, moveit::planning_interface::Mo
       }
     }
 
-    double velocity = 0.8;
-    std::string planning_mode = "cartesian_path";
+    double velocity = 0.0   ;
+    std::string planning_mode;
 
-   /* if (!node_handle.getParam("robot_speed_factor", velocity)) {
+   if (!node_handle.getParam("robot_speed_factor", velocity)) {
       velocity = PlannerState::default_velocity;
     }
 
     if (!node_handle.getParam("robot_planning_mode", planning_mode)) {
       planning_mode = PlannerState::default_planning_mode;
-    }*/
+    }
 
     ROS_INFO_STREAM("Planning the next trajectory in " << planning_mode << " with velocity " << velocity);