diff --git a/teb_local_planner/include/teb_local_planner/teb_config.h b/teb_local_planner/include/teb_local_planner/teb_config.h
index a6851fbe..ac969e88 100644
--- a/teb_local_planner/include/teb_local_planner/teb_config.h
+++ b/teb_local_planner/include/teb_local_planner/teb_config.h
@@ -271,9 +271,9 @@ class TebConfig
     robot.max_vel_y = 0.0;
     robot.max_vel_theta = 0.3;
     robot.base_max_vel_x = robot.max_vel_x;
-    robot.base_max_vel_x_backwards = robot.base_max_vel_x_backwards;
-    robot.base_max_vel_y = robot.base_max_vel_y;
-    robot.base_max_vel_theta = robot.base_max_vel_theta;
+    robot.base_max_vel_x_backwards = robot.max_vel_x_backwards;
+    robot.base_max_vel_y = robot.max_vel_y;
+    robot.base_max_vel_theta = robot.max_vel_theta;
     robot.acc_lim_x = 0.5;
     robot.acc_lim_y = 0.5;
     robot.acc_lim_theta = 0.5;
diff --git a/teb_local_planner/src/teb_config.cpp b/teb_local_planner/src/teb_config.cpp
index 23b254e1..686ca00d 100644
--- a/teb_local_planner/src/teb_config.cpp
+++ b/teb_local_planner/src/teb_config.cpp
@@ -197,9 +197,13 @@ void TebConfig::loadRosParamFromNodeHandle(const nav2_util::LifecycleNode::Share
 
   // Robot
   nh->get_parameter_or(name + "." + "max_vel_x", robot.max_vel_x, robot.max_vel_x);
+  nh->get_parameter_or(name + "." + "max_vel_x", robot.base_max_vel_x, robot.base_max_vel_x);
   nh->get_parameter_or(name + "." + "max_vel_x_backwards", robot.max_vel_x_backwards, robot.max_vel_x_backwards);
+  nh->get_parameter_or(name + "." + "max_vel_x_backwards", robot.base_max_vel_x_backwards, robot.base_max_vel_x_backwards);
   nh->get_parameter_or(name + "." + "max_vel_y", robot.max_vel_y, robot.max_vel_y);
+  nh->get_parameter_or(name + "." + "max_vel_y", robot.base_max_vel_y, robot.base_max_vel_y);
   nh->get_parameter_or(name + "." + "max_vel_theta", robot.max_vel_theta, robot.max_vel_theta);
+  nh->get_parameter_or(name + "." + "max_vel_theta", robot.base_max_vel_theta, robot.base_max_vel_theta);
   nh->get_parameter_or(name + "." + "acc_lim_x", robot.acc_lim_x, robot.acc_lim_x);
   nh->get_parameter_or(name + "." + "acc_lim_y", robot.acc_lim_y, robot.acc_lim_y);
   nh->get_parameter_or(name + "." + "acc_lim_theta", robot.acc_lim_theta, robot.acc_lim_theta);
diff --git a/teb_local_planner/src/teb_local_planner_ros.cpp b/teb_local_planner/src/teb_local_planner_ros.cpp
index d5592d2a..520c1b83 100644
--- a/teb_local_planner/src/teb_local_planner_ros.cpp
+++ b/teb_local_planner/src/teb_local_planner_ros.cpp
@@ -1041,30 +1041,44 @@ void TebLocalPlannerROS::configureBackupModes(std::vector<geometry_msgs::msg::Po
             RCLCPP_INFO(logger_, "TebLocalPlannerROS: oscillation recovery disabled/expired.");
         }
     }
-
 }
-     
 
-void TebLocalPlannerROS::setSpeedLimit(
-    const double & speed_limit, const bool & percentage)
-{
+void TebLocalPlannerROS::setSpeedLimit(const double& speed_limit,
+                                       const bool& percentage) {
   if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
-    // Restore default value
+    // Restore Defaults
     cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
-    cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
-    cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y;
-    cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta;
+    cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
+    cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
+    cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
   } else {
     if (percentage) {
-      // Speed limit is expressed in % from maximum speed of robot
-      cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * speed_limit / 100.0;
-      cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0;
-      cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * speed_limit / 100.0;
-      cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * speed_limit / 100.0;
+      if (speed_limit > 1.0 || speed_limit < 0.0) {
+        RCLCPP_WARN_THROTTLE(
+            logger_, *(clock_), 100,
+            "Percentage given outside the range 0-1. Using base velocities.");
+        // Restore defaults
+        cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
+        cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
+        cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
+        cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
+      } else {
+        // Speed limit is expressed in % from maximum speed of robot
+        cfg_->robot.max_vel_x =
+            cfg_->robot.base_max_vel_x * speed_limit / 100.0;
+        cfg_->robot.max_vel_x_backwards =
+            cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0;
+        cfg_->robot.max_vel_y =
+            cfg_->robot.base_max_vel_y * speed_limit / 100.0;
+        cfg_->robot.max_vel_theta =
+            cfg_->robot.base_max_vel_theta * speed_limit / 100.0;
+      }
     } else {
       // Speed limit is expressed in absolute value
-      double max_speed_xy = std::max(
-            std::max(cfg_->robot.base_max_vel_x,cfg_->robot.base_max_vel_x_backwards),cfg_->robot.base_max_vel_y);
+      double max_speed_xy =
+          std::max(std::max(cfg_->robot.base_max_vel_x,
+                            cfg_->robot.base_max_vel_x_backwards),
+                   cfg_->robot.base_max_vel_y);
       if (speed_limit < max_speed_xy) {
         // Handling components and angular velocity changes:
         // Max velocities are being changed in the same proportion
@@ -1073,9 +1087,17 @@ void TebLocalPlannerROS::setSpeedLimit(
         // G. Doisy: not sure if that's applicable to base_max_vel_x_backwards.
         const double ratio = speed_limit / max_speed_xy;
         cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * ratio;
-        cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * ratio;
-        cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * ratio;
-        cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * ratio;
+        cfg_->robot.max_vel_x_backwards =
+            cfg_->robot.base_max_vel_x_backwards * ratio;
+        cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y * ratio;
+        cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta * ratio;
+
+      } else {
+        // Restore defaults
+        cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
+        cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
+        cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
+        cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
       }
     }
   }