diff --git a/src/roboglue_ros/config/jointDefaults.yaml b/src/roboglue_ros/config/jointDefaults.yaml
new file mode 100644
index 0000000..41bbd90
--- /dev/null
+++ b/src/roboglue_ros/config/jointDefaults.yaml
@@ -0,0 +1,16 @@
+#Name of joint must be ordered it the same way of kinemtaic chain
+jointNames:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+#Home position of each joint in degrees
+jointHomePosition:
+    - !!float 90.0
+    - !!float -135.0
+    - !!float 135.0
+    - !!float -90.0
+    - !!float -90.0
+    - !!float 0.0