# Odometry fusion configuration (complementary filter)

odom_fusion:
  ros__parameters:
    # Publishing frequency in Hz
    frequency: 50  # 50 Hz = 20ms cycle

    # Sensor weights (will be normalized)
    # Wheel odometry: reliable linear displacement
    wheel_weight: 0.6

    # Visual odometry: loop closure and long-term correction
    visual_weight: 0.3

    # IMU: high-frequency attitude and angular velocity
    imu_weight: 0.1
