terrain_classification:
  ros__parameters:
    control_rate: 10.0
    depth_topic: "/camera/depth/image_rect_raw"
    lidar_topic: "/scan"
    depth_std_threshold: 0.02
    min_depth_m: 0.1
    max_depth_m: 3.0
    confidence_threshold: 0.5
    hysteresis_samples: 5
