/**:
  ros__parameters:
    visualization_mode: 'file'        # 'file', 'realtime', or 'interactive'
    attention_topic: '/attention/weights'
    save_dir: 'attention_visualizations'
    heatmap_topic_prefix: '/visualization/heatmap'
    queries_to_visualize: [0, 20, 40, 60, 80]
    layer_idx: -1
    batch_idx: 0
    average_heads: true
    blend_alpha: 0.4
    update_frequency: 10.0   # Hz
    headless: false