diff --git a/common_sensor_launch/config/gyro_bias_estimator.param.yaml b/common_sensor_launch/config/gyro_bias_estimator.param.yaml
new file mode 100644
index 00000000..9aa5f442
--- /dev/null
+++ b/common_sensor_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gyro_bias_threshold: 0.013 # [rad/s]
+    timer_callback_interval_sec: 0.5 # [sec]
+    diagnostics_updater_interval_sec: 0.5 # [sec]
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]