diff --git a/nav2_regulated_pure_pursuit_controller/README.md b/nav2_regulated_pure_pursuit_controller/README.md
index 494b0a0a6c..851ec41b3e 100644
--- a/nav2_regulated_pure_pursuit_controller/README.md
+++ b/nav2_regulated_pure_pursuit_controller/README.md
@@ -120,6 +120,9 @@ controller_server:
       rotate_to_heading_min_angle: 0.785
       max_angular_accel: 3.2
       goal_dist_tol: 0.25
+      cost_scaling_dist: 0.3
+      cost_scaling_gain: 1.0
+      inflation_cost_scaling_factor: 3.0
 ```
 
 ## Topics