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 e477f62..39df4df 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -44,49 +44,45 @@
 
   <!-- device options, -1 will not set the value -->
 
-  <!-- gain range: [0,48] -->
-  <arg name="gain" default="-1" />
-  <!-- <arg name="gain" default="24" /> -->
-
   <!-- brightness range: [0,240] -->
   <arg name="brightness" default="-1" />
   <!-- <arg name="brightness" default="120" /> -->
 
-  <!-- contrast range: [0,255] -->
-  <arg name="contrast" default="-1" />
-  <!-- <arg name="contrast" default="127" /> -->
-
-  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
-  <arg name="frame_rate" default="-1" />
-  <!-- <arg name="frame_rate" default="25" /> -->
-
-  <!-- imu_frequency range: {100,200,250,333,500} -->
-  <arg name="imu_frequency" default="-1" />
-  <!-- <arg name="imu_frequency" default="200" /> -->
-
   <!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
   <arg name="exposure_mode" default="-1" />
   <!-- <arg name="exposure_mode" default="0" /> -->
 
-  <!-- max_gain range: [0,48] -->
+  <!-- max_gain range: [0,255] -->
   <arg name="max_gain" default="-1" />
-  <!-- <arg name="max_gain" default="48" /> -->
+  <!-- <arg name="max_gain" default="8" /> -->
 
-  <!-- max_exposure_time range: [0,240] -->
+  <!-- max_exposure_time range: [0,1000] -->
   <arg name="max_exposure_time" default="-1" />
-  <!-- <arg name="max_exposure_time" default="240" /> -->
+  <!-- <arg name="max_exposure_time" default="333" /> -->
 
-  <!-- desired_brightness range: [0,255] -->
+  <!-- desired_brightness range: [1,255] -->
   <arg name="desired_brightness" default="-1" />
-  <!-- <arg name="desired_brightness" default="192" /> -->
+  <!-- <arg name="desired_brightness" default="122" /> -->
 
-  <!-- ir_control range: [0,160] -->
-  <arg name="ir_control" default="80" />
-  <!-- <arg name="ir_control" default="0" /> -->
+  <!-- min_exposure_time range: [0,1000] -->
+  <arg name="min_exposure_time" default="-1" />
+  <!-- <arg name="min_exposure_time" default="0" /> -->
 
-  <!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
-  <arg name="hdr_mode" default="-1" />
-  <!-- <arg name="hdr_mode" default="0" /> -->
+  <!-- accel_range range: [6,48] -->
+  <arg name="accel_range" default="-1" />
+  <!-- <arg name="accel_range" default="6" /> -->
+
+  <!-- gyro_range range: [250,4000] -->
+  <arg name="gyro_range" default="-1" />
+  <!-- <arg name="gyro_range" default="1000" /> -->
+
+  <!-- accel_low_filter range: [0,2] -->
+  <arg name="accel_low_filter" default="-1" />
+  <!-- <arg name="accel_low_filter" default="2" /> -->
+
+  <!-- gyro_low_filter range: [23,64] -->
+  <arg name="gyro_low_filter" default="-1" />
+  <!-- <arg name="gyro_low_filter" default="64" /> -->
 
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
@@ -136,18 +132,16 @@
 
       <!-- device options -->
 
-      <param name="gain" value="$(arg gain)" />
       <param name="brightness" value="$(arg brightness)" />
-      <param name="contrast" value="$(arg contrast)" />
-      <param name="frame_rate" value="$(arg frame_rate)" />
-      <param name="imu_frequency" value="$(arg imu_frequency)" />
       <param name="exposure_mode" value="$(arg exposure_mode)" />
       <param name="max_gain" value="$(arg max_gain)" />
       <param name="max_exposure_time" value="$(arg max_exposure_time)" />
       <param name="desired_brightness" value="$(arg desired_brightness)" />
-      <param name="ir_control" value="$(arg ir_control)" />
-      <param name="hdr_mode" value="$(arg hdr_mode)" />
-
+      <param name="min_exposure_time" value="$(arg max_exposure_time)" />
+      <param name="accel_range" value="$(arg accel_range)" />
+      <param name="gyro_range" value="$(arg gyro_range)" />
+      <param name="accel_low_filter" value="$(arg accel_low_filter)" />
+      <param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
     </node>
 
   </group> <!-- mynteye -->
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 6037d19..e35a6e8 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
@@ -147,18 +147,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     // device options
 
     std::map<Option, std::string> option_names = {
-        {Option::GAIN, "gain"},
         {Option::BRIGHTNESS, "brightness"},
-        {Option::CONTRAST, "contrast"},
-        {Option::FRAME_RATE, "frame_rate"},
-        {Option::IMU_FREQUENCY, "imu_frequency"},
         {Option::EXPOSURE_MODE, "exposure_mode"},
         {Option::MAX_GAIN, "max_gain"},
         {Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
         {Option::DESIRED_BRIGHTNESS, "desired_brightness"},
-        {Option::IR_CONTROL, "ir_control"},
-        {Option::HDR_MODE, "hdr_mode"},
-    };
+        {Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
+        {Option::EXPOSURE_MODE, "accel_range"},
+        {Option::GYROSCOPE_RANGE, "gyro_range"},
+        {Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
+        {Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};
     for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
       if (!api_->Supports(it->first))
         continue;