/**:
  ros__parameters:
    publish_snapshot_topic: "/world/snapshot"
    snapshot_rate: 1.0
    snapshot_mode: "minimal"
    subscriptions:
      - '{"topic":"/perception/animal_detection/result","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"animal","ttl":60.0,"mapping":{"entity_id":"animal_id","state":{"position":"position","species":"species","behavior":"behavior","health_status":"health_status"},"metadata":{"source":"detector","confidence":"confidence","timestamp":"timestamp"}}}'
      - '{"topic":"/perception/obstacle/result","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"obstacle","ttl":30.0,"mapping":{"entity_id":"obstacle_id","state":{"position":"position","dimensions":"dimensions","classification":"classification","velocity":"velocity"},"metadata":{"source":"lidar","confidence":"confidence"}}}'
      - '{"topic":"/sensors/gas/reading","msg_type":"std_msgs/msg/String","update_type":"environment","mapping":{"state":{"ch4":"methane","co2":"carbon_dioxide","h2s":"hydrogen_sulfide","o2":"oxygen","temperature":"temp","humidity":"humidity"}}}'
      - '{"topic":"/sensors/weather/data","msg_type":"std_msgs/msg/String","update_type":"environment","mapping":{"state":{"weather":"condition","temperature":"temperature","wind_speed":"wind_speed","rain_intensity":"rain_intensity","light_level":"illuminance"}}}'
      - '{"topic":"/actuator/status","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"actuator","ttl":10.0,"mapping":{"entity_id":"device_id","state":{"status":"status","available":"available","position":"position","force":"force_feedback"},"metadata":{"source":"actuator_controller","type":"device_type"}}}'
      - '{"topic":"/perception/person/detection","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"person","ttl":30.0,"mapping":{"entity_id":"person_id","state":{"position":"position","action":"action","orientation":"orientation"},"metadata":{"source":"vision","confidence":"confidence","tags":"tags"}}}'
      - '{"topic":"/robot/position","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"robot","ttl":5.0,"mapping":{"entity_id":"entity_id","state":{"name":"name","type":"type","position":"position","battery":"battery","status":"status"},"metadata":{"source":"simulator","timestamp":"timestamp"}}}'
      - '{"topic":"/map/poi","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"poi","ttl":null,"mapping":{"entity_id":"entity_id","state":{"name":"name","type":"poi_type","index":"index","position":"position","status":"status","is_current_location":"is_current_location","properties":"properties"},"metadata":{"source":"simulator","timestamp":"timestamp"}}}'
      - '{"topic":"/robot/status","msg_type":"std_msgs/msg/String","update_type":"system","mapping":{"state":{"battery":"battery_level","mode":"operating_mode","current_task":"current_task","error_code":"error_code","timestamp":"timestamp"}}}'
