So finally got things working, again people on here are awesome and I am actually now reading a book on ROS to fill in the gaps.
I used code from https://github.com/DaikiMaekawa/navigation2d_example
Parameters on the Robot seem to be in
https://github.com/DaikiMaekawa/navigation2d_example/blob/master/param/base_local_planner_params.yaml
https://github.com/DaikiMaekawa/navigation2d_example/blob/master/param/costmap_common_params.yaml
My question is, does either of these files control the turning speed of the robot as it is struggling to turn on carpet?
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