diff --git a/magni_bringup/config/default_robot.yaml b/magni_bringup/config/default_robot.yaml
index 706b2faf..b0cc83c6 100644
--- a/magni_bringup/config/default_robot.yaml
+++ b/magni_bringup/config/default_robot.yaml
@@ -2,7 +2,7 @@
 # Default Robot Configuration
 
 # WARNING: Changing the content of this folder effects the working of magni_bringup/scripts/launch_core.py !!!
-# Make sure you understand what you're doing before changing anything in here. 
+# Make sure you understand what you're doing before changing anything in here.
 
 
 # ============================================= USER CHANGEABLE PARAMETERS =================================================
@@ -79,11 +79,15 @@ ubiquity_velocity_controller:
     x:
       has_velocity_limits    : true
       max_velocity           : 1.0   # m/s
+      min_velocity           : -1.0  # m/s
       has_acceleration_limits: true
       max_acceleration       : 1.1   # m/s^2
+      min_acceleration       : -1.1  # m/s^2
   angular:
     z:
       has_velocity_limits    : true
       max_velocity           : 2.0   # rad/s
+      min_velocity           : -2.0  # rad/s
       has_acceleration_limits: true
       max_acceleration       : 5.0   # rad/s^2
+      min_acceleration       : -5.0  # rad/s^2
diff --git a/magni_bringup/launch/core_launch.em b/magni_bringup/launch/core_launch.em
index 9ff17300..578b12db 100644
--- a/magni_bringup/launch/core_launch.em
+++ b/magni_bringup/launch/core_launch.em
@@ -3,7 +3,7 @@
     <arg name="sonars_installed" default="@(sonars_installed)"/>
     <arg name="oled_display" default="@(oled_display)"/>
     <arg name="controller_board_version" default="@(controller_board_version)"/>
-    
+
     <include file="$(find magni_description)/launch/description.launch">
         <arg name="camera_extrinsics_file" value="@(camera_extrinsics_file)"/>
         <arg name="lidar_extrinsics_file" value="@(lidar_extrinsics_file)"/>
@@ -67,16 +67,20 @@
     <param name="/ubiquity_velocity_controller/wheel_radius" value="@(wheel_radius)"/>
     <param name="/ubiquity_velocity_controller/linear/x/has_velocity_limits" value="@(lin_has_velocity_limits)"/>
     <param name="/ubiquity_velocity_controller/linear/x/max_velocity" value="@(lin_max_velocity)"/>
+    <param name="/ubiquity_velocity_controller/linear/x/min_velocity" value="@(lin_min_velocity)"/>
     <param name="/ubiquity_velocity_controller/linear/x/has_acceleration_limits" value="@(lin_has_acceleration_limits)"/>
     <param name="/ubiquity_velocity_controller/linear/x/max_acceleration" value="@(lin_max_acceleration)"/>
+    <param name="/ubiquity_velocity_controller/linear/x/min_acceleration" value="@(lin_min_acceleration)"/>
 
     <rosparam param="/ubiquity_velocity_controller/pose_covariance_diagonal">@(pose_covariance_diagonal)</rosparam>
     <rosparam param="/ubiquity_velocity_controller/twist_covariance_diagonal">@(twist_covariance_diagonal)</rosparam>
 
     <param name="/ubiquity_velocity_controller/angular/z/has_velocity_limits" value="@(ang_has_velocity_limits)"/>
     <param name="/ubiquity_velocity_controller/angular/z/max_velocity" value="@(ang_max_velocity)"/>
+    <param name="/ubiquity_velocity_controller/angular/z/min_velocity" value="@(ang_min_velocity)"/>
     <param name="/ubiquity_velocity_controller/angular/z/has_acceleration_limits" value="@(ang_has_acceleration_limits)"/>
     <param name="/ubiquity_velocity_controller/angular/z/max_acceleration" value="@(ang_max_acceleration)"/>
+    <param name="/ubiquity_velocity_controller/angular/z/min_acceleration" value="@(ang_min_acceleration)"/>
 
     <!-- Launch the roscontrol controllers needed -->
     <node name="controller_spawner" pkg="controller_manager" type="spawner"
diff --git a/magni_bringup/scripts/launch_core.py b/magni_bringup/scripts/launch_core.py
index 878255be..1d5b0cbc 100755
--- a/magni_bringup/scripts/launch_core.py
+++ b/magni_bringup/scripts/launch_core.py
@@ -79,7 +79,7 @@ def get_config_replace_missing(conf_path, default_conf):
             try:
                 y_conf = yaml.safe_load(conf_file)
             except Exception as e:
-                print(clr.ERROR + 
+                print(clr.ERROR +
                     + "Error reading yaml file from "
                     + conf_path
                     + ", using default configuration"
@@ -96,12 +96,12 @@ def get_config_replace_missing(conf_path, default_conf):
             # if any key missing in y_conf replace it individually from default_conf
             dict_replace_missing(y_conf, default_conf)
 
-            # print(y_conf)    
+            # print(y_conf)
             return y_conf
     except IOError:
-        print(clr.WARN 
+        print(clr.WARN
             + "WARN "
-            + conf_path 
+            + conf_path
             + " doesn't exist, using default configuration"
             + clr.ENDC)
         return default_conf
@@ -135,7 +135,7 @@ def create_core_launch_file(
     mot_cont = conf["ubiquity_motor"]
     vel_cont = conf["ubiquity_velocity_controller"]
     joint_pub = conf["ubiquity_joint_publisher"]
-    
+
     try:
         with open(em_path) as em_launch_file:
             em_launch = em_launch_file.read()
@@ -167,7 +167,7 @@ def create_core_launch_file(
                     "fw_max_speed_rev": str(mot_cont["fw_max_speed_rev"]),
                     "pid_moving_buffer_size": str(mot_cont["pid_moving_buffer_size"]),
                     "pid_velocity": str(mot_cont["pid_velocity"]),
-                    
+
                     "joint_controller_type": str(joint_pub["type"]),
                     "joint_controller_publish_rate": str(joint_pub["publish_rate"]),
 
@@ -187,13 +187,17 @@ def create_core_launch_file(
                     "wheel_radius_multiplier": str(vel_cont["wheel_radius_multiplier"]),
                     "lin_has_velocity_limits": str(vel_cont["linear"]["x"]["has_velocity_limits"]),
                     "lin_max_velocity": str(vel_cont["linear"]["x"]["max_velocity"]),
+                    "lin_min_velocity": str(vel_cont["linear"]["x"]["min_velocity"]),
                     "lin_has_acceleration_limits": str(vel_cont["linear"]["x"]["has_acceleration_limits"]),
                     "lin_max_acceleration": str(vel_cont["linear"]["x"]["max_acceleration"]),
+                    "lin_min_acceleration": str(vel_cont["linear"]["x"]["min_acceleration"]),
 
                     "ang_has_velocity_limits": str(vel_cont["angular"]["z"]["has_velocity_limits"]),
                     "ang_max_velocity": str(vel_cont["angular"]["z"]["max_velocity"]),
+                    "ang_min_velocity": str(vel_cont["angular"]["z"]["min_velocity"]),
                     "ang_has_acceleration_limits": str(vel_cont["angular"]["z"]["has_acceleration_limits"]),
                     "ang_max_acceleration": str(vel_cont["angular"]["z"]["max_acceleration"]),
+                    "ang_min_acceleration": str(vel_cont["angular"]["z"]["min_acceleration"]),
                 },
             )
     except FileNotFoundError:
@@ -211,7 +215,7 @@ def create_core_launch_file(
 
 
 """
-If the first file exists, return it, otherwise return the second file. 
+If the first file exists, return it, otherwise return the second file.
 If none of them exists returns empty string.
 
 :param first_path: The path to the file you want to find
@@ -413,7 +417,7 @@ def main():
             print(clr.OK
                 + "Launch check OK"
                 + clr.ENDC)
-        
+
 
 if __name__ == "__main__":
     main()