diff --git a/hello_wolf/hello_wolf_config.yaml b/hello_wolf/hello_wolf_config.yaml
index afd6a9fcde82eb03bb2a67c9f197387e84fd9b58..b2ea7b0cd4d93ed3c4226e59613a135e5f2a32e6 100644
--- a/hello_wolf/hello_wolf_config.yaml
+++ b/hello_wolf/hello_wolf_config.yaml
@@ -15,6 +15,7 @@ config:
       name:               "sen odom"
       extrinsic: 
         pose:             [0,0, 0]
+      #follow:             "/Users/jsola/dev/wolf_lib/core/hello_wolf/sensor_odom_2D.yaml"
       k_disp_to_disp:     0.1
       k_rot_to_rot:       0.1
 
diff --git a/hello_wolf/sensor_odom_2D.yaml b/hello_wolf/sensor_odom_2D.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..093a1af8d00a7150627d2abbd5a5f1c51403190c
--- /dev/null
+++ b/hello_wolf/sensor_odom_2D.yaml
@@ -0,0 +1,4 @@
+type: "ODOM 2D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+k_disp_to_disp:   0.1  # m^2   / m
+k_rot_to_rot:     0.1  # rad^2 / rad