diff --git a/config/default_config.yaml b/config/default_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..f08a43db88ba04175d07510188f55cc2608ec3ad
--- /dev/null
+++ b/config/default_config.yaml
@@ -0,0 +1,17 @@
+# sensor information
+base_frame_id: "ana/base_footprint"
+min_range: 0.1
+max_range: 50.0
+sensor_height: 0.3
+# node configuration
+debug: True
+max_inc: 0.3
+min_inc: 0.05
+inc_area_filter: 10
+max_ring: 10
+# farthest point computation
+farthest_enable: True
+farthest_num_rings: 9
+# virtual point computation
+virtual_enable: False
+virtual_floor_threshold: 0.03