diff --git a/cfg/VisualGps.cfg b/cfg/VisualGps.cfg
index bba966ce3eaf70d6f37394947ceb6453f7759d66..c79ca2dfd0416205340472c0990284504ec494c6 100755
--- a/cfg/VisualGps.cfg
+++ b/cfg/VisualGps.cfg
@@ -39,6 +39,8 @@ gen = ParameterGenerator()
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 #gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
+gen.add("world_frame"           ,  str_t,     0,                               "Wolrd reference frame",          "map")
+gen.add("odom_gps_frame"        ,  str_t,     0,                               "GPS odometry reference frame",   "gps_odom")
 gen.add("color1_id"             ,  str_t,     0,                               "Color 1 identifier",             "color1")
 gen.add("color1_x"              ,  double_t,  0,                               "Color 1 X position",             0.5,      -100.0,100.0)
 gen.add("color1_y"              ,  double_t,  0,                               "Color 1 Y position",             0.5,      -100.0,100.0)