# Sensor Fusion Configuration (Issue #490)
sensor_fusion:
  ros__parameters:
    lidar_topic: "/scan"
    depth_topic: "/depth_scan"
    fused_topic: "/scan_fused"
    cloud_topic: "/scan_fused_cloud"
    frame_id: "base_link"
    front_sector_angle: 45.0
    depth_range_multiplier: 0.9
    max_range_limit: 5.0
