diff --git a/config/ana_realsense_config.yaml b/config/ana_realsense_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..53e647f397ce1e800d9d9e70cdba88fc433ed30c
--- /dev/null
+++ b/config/ana_realsense_config.yaml
@@ -0,0 +1,21 @@
+rate: 60.0
+horizontal_fov: 1.047
+image_width: 640
+image_height: 480
+image_format: 'R8G8B8'
+clip_near: 0.2
+clip_far: 100.0
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.007
+image_topic_name: '/ana/sensors/nav_cam/color/image_raw'
+camera_info_topic_name: '/ana/sensors/nav_cam/color/camera_info'
+depth_image_topic_name: '/ana/sensors/nav_cam/depth/image_rect_raw'
+point_cloud_topic_name: '/ana/sensors/nav_cam/depth_registered/points'
+depth_image_camera_info_topic_name: '/ana/sensors/nav_cam/depth/camera_info'
+point_cloud_cut_off: 0.4
+hack_baseline: 0.007
+cx_prime: 0.0
+cx: 0.0
+cy: 0.0
+focal_length: 0.0