diff --git a/config/control_config.yaml b/config/control_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6f4adee953a7d4250c7cfe239210f7bc83dfc27f
--- /dev/null
+++ b/config/control_config.yaml
@@ -0,0 +1,15 @@
+rate: 40
+speed_Kp: 20.0
+speed_Ki: 50.0
+speed_Kd: 0.00
+speed_i_max: 20.0
+speed_deadband: 0.1
+watchdog_time: 0.5
+axel_distance: 0.3662
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_speed_control: 20.0
+min_speed_control: -20.0
+max_steer_control: 62.0
+min_steer_control: -77.0
+
diff --git a/config/odometry_config.yaml b/config/odometry_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..be7ed560238093854ea2e272fd6bdf86644a8853
--- /dev/null
+++ b/config/odometry_config.yaml
@@ -0,0 +1,15 @@
+rate: 40
+odom_frame: "model_car/odom"
+robot_frame: "model_car/base_footprint"
+encoder_ticks: 30
+wheel_diameter: 0.100
+wheel_distance: 0.216
+axel_distance: 0.3662
+filter_coeff: 0.3
+speed_deadband: 0.1
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_steer_control: 62.0
+min_steer_control: -77.0
+publish_tf: False
+