+gen.add("range_sensor_max", double_t, 0, "Range sensor max range", 0.5, 0.04, 4)
+gen.add("range_sensor_fov", double_t, 0, "Range sensor field of view (deg)", 30, 1, 90)
+gen.add("odom_covar_xy", double_t, 0, "Odometry covariance: translation", 1e-3, 1e-6, 1)
+gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 1.00, 1e-6, 6.2832)
+gen.add("rollover_protect", bool_t, 0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t, 0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm", double_t, 0, "Pitch rollover protection speed (pwm)", 255, 0, 255)
+gen.add("stay_docked", bool_t, 0, "Try to stay dock again after an undocking event", True)