diff --git a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
index 6c57a2cba4d75e068a800a4516743d40e422b28a..cbd7dba18d1b0e575a6fb725b20077e825cf2c55 100644
--- a/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/test/CMakeLists.txt
@@ -3,5 +3,5 @@ ament_add_gtest(vtest velocity_iterator_test.cpp)
 #ament_add_gtest(goal_checker goal_checker.cpp)
 #target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker)
 
-#ament_add_gtest(twist_gen_test twist_gen.cpp)
-#target_link_libraries(twist_gen_test standard_traj_generator)
+ament_add_gtest(twist_gen_test twist_gen.cpp)
+target_link_libraries(twist_gen_test standard_traj_generator)
diff --git a/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp b/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
index b1c90aedafc5e1878f70f4b521b42681964e7c02..1bee7fdda2c052ceaa0abc397bd69103efddd620 100644
--- a/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
+++ b/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
@@ -71,6 +71,8 @@ std::vector<rclcpp::Parameter> getDefaultKinematicParameters()
   parameters.push_back(rclcpp::Parameter("max_speed_xy", 0.55));
   parameters.push_back(rclcpp::Parameter("min_speed_theta", 0.4));
 
+  parameters.push_back(rclcpp::Parameter("use_dwa", false));
+
   return parameters;
 }
 
@@ -237,17 +239,6 @@ TEST(VelocityIterator, dwa_gen)
   checkLimits(twists, 0.0, 0.125, -0.1, 0.1, -0.16, 0.16, hypot(0.125, 0.1), 0.0, 0.1);
 }
 
-TEST(VelocityIterator, dwa_gen_no_param)
-{
-  auto nh = makeTestNode("dwa_gen_no_param");
-  nh->set_parameters({rclcpp::Parameter("min_speed_theta", -1.0)});
-  dwb_plugins::LimitedAccelGenerator gen;
-  gen.initialize(nh);
-  std::vector<nav_2d_msgs::msg::Twist2D> twists = gen.getTwists(zero);
-  EXPECT_EQ(twists.size(), 20u * 20u * 5u + 100u - 1u);
-  checkLimits(twists, 0.0, 0.125, -0.1, 0.1, -0.16, 0.16, hypot(0.125, 0.1), 0.0, 0.1);
-}
-
 TEST(VelocityIterator, nonzero)
 {
   auto nh = makeTestNode("nonzero");