/**:
  ros__parameters:
    grid_width: 100
    grid_height: 100
    grid_resolution: 0.1
    map_file: "/home/seb/saltybot-data/obstacle_map.yaml"
    auto_save_interval: 300.0
    scan_max_range: 10.0
    scan_min_range: 0.1
    publish_rate_hz: 5.0
    decay_interval_seconds: 3600.0
    hazard_detection_threshold: 3
