diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 2ef423d..15b79c7 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -86,6 +86,14 @@
   <arg name="hdr_mode" default="-1" />
   <!-- <arg name="hdr_mode" default="0" /> -->
 
+  <!-- accel_range range: {4,8,16,32} -->
+  <arg name="accel_range" default="-1" />
+  <!-- <arg name="accel_range" default="8" /> -->
+
+  <!-- gyro_range range: {500,1000,2000,4000} -->
+  <arg name="gyro_range" default="-1" />
+  <!-- <arg name="gyro_range" default="1000" /> -->
+
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
@@ -143,6 +151,8 @@
       <param name="desired_brightness" value="$(arg desired_brightness)" />
       <param name="ir_control" value="$(arg ir_control)" />
       <param name="hdr_mode" value="$(arg hdr_mode)" />
+      <param name="accel_range" value="$(arg accel_range)" />
+      <param name="gyro_range" value="$(arg gyro_range)" />
 
     </node>
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 0402e76..cbc0110 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -160,6 +160,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
         {Option::IR_CONTROL, "ir_control"},
         {Option::HDR_MODE, "hdr_mode"},
+        {Option::ACCELEROMETER_RANGE, "accel_range"},
+        {Option::GYROSCOPE_RANGE, "gyro_range"}
     };
     for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
       if (!api_->Supports(it->first))