saturn_ros2/saturn_controller/config/saturn_controller.yaml

saturn_controller:
  ros__parameters:
    # 基本类型参数
    motion_computer_ip_address: '192.168.144.103'
    main_timer_frequency: 50.0
    imu_timer_frequency: 200.0
    legged_odom_timer_frequency: 100.0
    joints_state_timer_frequency: 5.0