{
  "mode": "simulation",
  "map_id": "sim-map",
  "simulation_complete_sec": 0.5,
  "poll_interval_sec": 0.05,
  "safety": {
    "odom_max_age_sec": 0.2,
    "stationary_window_sec": 0.3,
    "linear_stopped_mps": 0.005,
    "angular_stopped_radps": 0.005,
    "pose_max_age_sec": 0.2,
    "readiness_max_age_sec": 0.5,
    "stop_wait_timeout_sec": 1.0
  }
}