# Velocity Smoother Configuration
velocity_smoother:
  ros__parameters:
    # Filter parameters
    filter_order: 2  # Butterworth filter order (1-4 typical)
    cutoff_frequency: 5.0  # Cutoff frequency in Hz (lower = more smoothing)

    # Publishing frequency (Hz)
    publish_frequency: 50

    # Enable/disable filtering
    enable_smoothing: true