diff --git a/joy2twist/config/joy2twist_stamped.yaml b/joy2twist/config/joy2twist_stamped.yaml
new file mode 100644
index 0000000..dda2e73
--- /dev/null
+++ b/joy2twist/config/joy2twist_stamped.yaml
@@ -0,0 +1,24 @@
+/**:
+  ros__parameters:
+    cmd_vel.use_stamped: true
+
+    linear_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    angular_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    # This button mapping should be adjusted to the specific controller
+    # The following map is suited for Logitech F710
+    button_index_map:
+      axis:
+        angular_z: 2 # Right joystick
+        linear_x: 1 # Left joystick
+        linear_y: 0 # Left joystick
+      dead_man_switch: 4 # LB
+      fast_mode: 7 # RT
+      slow_mode: 5 # RB