sample.yaml

sync_parameter_server:
  ros__parameters:
    sync_parameters:
      - frequency
      - sim_time
    frequency:
      params:
        - /robot/diff_drive_controller/publish_rate
        - /robot/velocity_smoother/smoothing_frequency
        - /robot/robot_state_publisher/publish_frequency
      /robot/diff_drive_controller/publish_rate:
        scale: 1.0
        offset: 5.0
      /robot/velocity_smoother/smoothing_frequency:
        offset: -1.0
      /robot/robot_state_publisher/publish_frequency:
        scale: 10.0
      type: double
      default: 50.0
    sim_time:
      params:
        - /robot/diff_drive_controller/use_sim_time
        - /robot/velocity_smoother/use_sim_time
        - /robot/robot_state_publisher/use_sim_time
      default: true
      type: bool