geofence:
  ros__parameters:
    # Polygon vertices as flat list [x1, y1, x2, y2, ...]
    # Example: square from (0,0) to (10,10)
    geofence_vertices: [0.0, 0.0, 10.0, 0.0, 10.0, 10.0, 0.0, 10.0]

    # Enforce boundary by zeroing cmd_vel on breach
    enforce_boundary: false

    # Safety margin (m) - breach triggered before actual boundary
    margin: 0.0