-gen.add("range_sensor_max", double_t, 0, "Range sensor max range", 0.5, 0.4, 4)
-gen.add("odom_covar_xy", double_t, 0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
-gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
+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)