{
  "zmq_host": "127.0.0.1",
  "zmq_port": 5556,
  "ros2_odom_topic": "/dog_odom",
  "odom_interface": "eth0",
  "default_walk_speed": 0.25,
  "default_turn_speed": 0.25,
  "dist_tolerance": 0.05,
  "angle_tolerance": 2.0,
  "safety_timeout_mult": 3.0,
  "dr_update_hz": 20
}