odometry:
  ros__parameters:
    # RewrittenYaml 주입은 키가 존재해야 동작 (DO_NOT YAML 룰) — launch arg 가 실값 주입
    use_sim_time: false
    odom_topic: "/vehicle_odom"
    odom_frame: "odom"
    base_frame: "base_link"

pcd_crop:
  ros__parameters:
    use_sim_time: false
    input_topic: "/raw/lidar"
    output_topic: "/lidar_filtered"
    min_z: -2.5
    max_z: 1.5
    min_radius: 2.0
    max_radius: 30.0