cliff_detector:
  ros__parameters:
    # Cliff threshold in meters (readings > this = drop-off)
    cliff_threshold: 0.5

    # Number of consecutive detections before triggering
    # (debouncing to avoid false positives)
    debounce_count: 3

    # Minimum number of sensors that must exceed threshold
    # (majority voting for robustness)
    min_sensors: 2
