diff --git a/config/ana_sim_config.yaml b/config/ana_sim_config.yaml
index 3976a63b8969a974c94aabd90ace75daea034cfb..86c6d1e0da440afb7bee9f6978fb2b2e6e836254 100644
--- a/config/ana_sim_config.yaml
+++ b/config/ana_sim_config.yaml
@@ -14,4 +14,4 @@ cov_yaw: 0.01
 cmd_vel_topic: 'cmd_vel'
 odom_topic: 'odom'
 odom_frame: 'odom'
-broadcast_tf: 1
\ No newline at end of file
+broadcast_tf: 1
diff --git a/config/ana_velodyne_config.yaml b/config/ana_velodyne_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..256820aec7349cb1ee12c574172365f4d3c511c3
--- /dev/null
+++ b/config/ana_velodyne_config.yaml
@@ -0,0 +1,10 @@
+topic: sensors/velodyne_points
+rate: 10
+samples: 400 #1875
+min_angle: -3.14159
+max_angle:  3.14159
+lasers: 16
+collision_range: 0.3
+min_range: 0.9
+max_range: 130.0
+noise: 0.008