diff --git a/cfg/Zed.cfg b/cfg/Zed.cfg
index 64b4f794..465a7b4f 100755
--- a/cfg/Zed.cfg
+++ b/cfg/Zed.cfg
@@ -6,5 +6,8 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("confidence", int_t, 0, "Confidence threshold, the lower the better", 80,  1, 100)
+gen.add("exposure", int_t, 1, "Exposure value when manual controlled", 100, 0, 100);
+gen.add("gain", int_t, 2, "Gain value when manual controlled", 50, 0, 100);
+gen.add("auto_exposure", bool_t, 3, "Enable/Disable auto control of exposure and gain", True);
 
 exit(gen.generate(PACKAGE, "zed_wrapper", "Zed"))
diff --git a/launch/zed_camera.launch b/launch/zed_camera.launch
index fc26c1d6..386257d0 100644
--- a/launch/zed_camera.launch
+++ b/launch/zed_camera.launch
@@ -60,6 +60,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <param name="openni_depth_mode"     value="0" />
         <param name="gpu_id"                value="$(arg gpu_id)" />
         <param name="confidence"            value="100" />
+        <param name="gain"                  value="100" />
+        <param name="exposure"              value="100" />
+        <param name="auto_exposure"         value="true" />
         <param name="depth_stabilization"   value="1" />
 
         <!-- ROS topic names -->
diff --git a/src/zed_wrapper_nodelet.cpp b/src/zed_wrapper_nodelet.cpp
index fb20fb5e..170fcdd5 100644
--- a/src/zed_wrapper_nodelet.cpp
+++ b/src/zed_wrapper_nodelet.cpp
@@ -147,6 +147,10 @@ namespace zed_wrapper {
 
         // flags
         int confidence;
+        int exposure;
+        int gain;
+        bool autoExposure;
+        bool triggerAutoExposure;
         bool computeDepth;
         bool grabbing = false;
         int openniDepthMode = 0; // 16 bit UC data in mm else 32F in m, for more info http://www.ros.org/reps/rep-0118.html
@@ -483,8 +487,26 @@ namespace zed_wrapper {
         }
 
         void callback(zed_wrapper::ZedConfig &config, uint32_t level) {
-            NODELET_INFO("Reconfigure confidence : %d", config.confidence);
-            confidence = config.confidence;
+            switch (level) {
+                case 0:
+                    NODELET_INFO("Reconfigure confidence : %d", config.confidence);
+                    confidence = config.confidence;
+                    break;
+                case 1:
+                    NODELET_INFO("Reconfigure exposure : %d", config.exposure);
+                    exposure = config.exposure;
+                    break;
+                case 2:
+                    NODELET_INFO("Reconfigure gain : %d", config.gain);
+                    gain = config.gain;
+                    break;
+                case 3:
+                    NODELET_INFO("Reconfigure auto control of exposure and gain : %s", config.auto_exposure ? "Enable" : "Disable");
+                    autoExposure = config.auto_exposure;
+                    if (autoExposure)
+                        triggerAutoExposure = true;
+                    break;
+            }
         }
 
         void device_poll() {
@@ -608,6 +630,23 @@ namespace zed_wrapper {
 
                     old_t = ros::Time::now();
 
+                    if (autoExposure) {
+                        // getCameraSettings() can't check status of auto exposure
+                        // triggerAutoExposure is used to execute setCameraSettings() only once
+                        if (triggerAutoExposure) {
+                            zed.setCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE, 0, true);
+                            triggerAutoExposure = false;
+                        }
+                    } else {
+                        int actual_exposure = zed.getCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE);
+                        if (actual_exposure != exposure)
+                            zed.setCameraSettings(sl::CAMERA_SETTINGS_EXPOSURE, exposure);
+
+                        int actual_gain = zed.getCameraSettings(sl::CAMERA_SETTINGS_GAIN);
+                        if (actual_gain != gain)
+                            zed.setCameraSettings(sl::CAMERA_SETTINGS_GAIN, gain);
+                    }
+
                     // Publish the left == rgb image if someone has subscribed to
                     if (left_SubNumber > 0 || rgb_SubNumber > 0) {
                         // Retrieve RGBA Left image
@@ -891,14 +930,18 @@ namespace zed_wrapper {
 
             serial_number = zed.getCameraInformation().serial_number;
 
-            //Reconfigure confidence
+            //Reconfigure parameters
             server = boost::make_shared<dynamic_reconfigure::Server < zed_wrapper::ZedConfig >> ();
             dynamic_reconfigure::Server<zed_wrapper::ZedConfig>::CallbackType f;
             f = boost::bind(&ZEDWrapperNodelet::callback, this, _1, _2);
             server->setCallback(f);
 
             nh_ns.getParam("confidence", confidence);
-
+            nh_ns.getParam("exposure", exposure);
+            nh_ns.getParam("gain", gain);
+            nh_ns.getParam("auto_exposure", autoExposure);
+            if (autoExposure)
+                triggerAutoExposure = true;
 
             // Create all the publishers
             // Image publishers