diff --git a/src/rktl_sim/config/simulation.yaml b/src/rktl_sim/config/simulation.yaml
index 60be00b58..a3306dd97 100644
--- a/src/rktl_sim/config/simulation.yaml
+++ b/src/rktl_sim/config/simulation.yaml
@@ -1,103 +1,106 @@
-rate: 10
-spawn_height: 0.06
 
-car:
-  # init_pose:
-  #   pos: [0.5, 0.0, 0.06]
-  sensor_noise:
-    pos: [0.01, 0.01, 0.00]
-    orient: [0.0, 0.0, 0.09]
-    dropout: 0.15
+/**:
+  ros__parameters:
+    rate: 10
+    spawn_height: 0.06
 
-ball:
-  init_speed: 0.0
-  # init_pose:
-  #   pos: [0.0, 0.5, 0.06]
-  #   orient: [0.0, 0.0, 0.0]
-  sensor_noise:
-    pos: [0.01, 0.01, 0.0]
-    orient: [0.0, 0.0, 0.0]
-    dropout: 0.1
+    car:
+      # init_pose:
+      #   pos: [0.5, 0.0, 0.06]
+      sensor_noise:
+        pos: [0.01, 0.01, 0.00]
+        orient: [0.0, 0.0, 0.09]
+        dropout: 0.15
 
-#
-# Simulation settings
-#
+    ball:
+      init_speed: 0.0
+      # init_pose:
+      #   pos: [0.0, 0.5, 0.06]
+      #   orient: [0.0, 0.0, 0.0]
+      sensor_noise:
+        pos: [0.01, 0.01, 0.0]
+        orient: [0.0, 0.0, 0.0]
+        dropout: 0.1
 
-rate: 10
-spawn_height: 0.06
+    #
+    # Simulation settings
+    #
 
-# Directly export to setPhysicsEngineParameters()
-engine:
-  fixedTimeStep: 0.001
-  restitutionVelocityThreshold: 0.0001
+    rate: 10
+    spawn_height: 0.06
 
-# Directly exported to changeDynamics()
-dynamics:
-  ball:
-    mass: 0.2
-    lateralFriction: 0.4
-    restitution: 0.7
-    rollingFriction: 0.0001
-    spinningFriction: 0.001
-    contactDamping: 0.0
-    contactStiffness: 0.0
-    collisionMargin: 0.0
-  car:
-    mass: 0.0
-    lateralFriction: 0.0
-    restitution: 0.0
-    rollingFriction: 0.0
-    spinningFriction: 0.0
-    contactDamping: 0.0
-    contactStiffness: 0.0
-    collisionMargin: 0.0
-  walls:
-    mass: 0.0
-    lateralFriction: 0.0
-    restitution: 0.0
-    rollingFriction: 0.0
-    spinningFriction: 0.0
-    contactDamping: 0.0
-    contactStiffness: 0.0
-    collisionMargin: 0.0
-  floor:
-    mass: 0.0
-    lateralFriction: 0.0
-    restitution: 0.0
-    rollingFriction: 0.0
-    spinningFriction: 0.0
-    contactDamping: 0.0
-    contactStiffness: 0.0
-    collisionMargin: 0.0
+    # Directly export to setPhysicsEngineParameters()
+    engine:
+      fixedTimeStep: 0.001
+      restitutionVelocityThreshold: 0.0001
 
-#
-# Object instances
-#
+    # Directly exported to changeDynamics()
+    dynamics:
+      ball:
+        mass: 0.2
+        lateralFriction: 0.4
+        restitution: 0.7
+        rollingFriction: 0.0001
+        spinningFriction: 0.001
+        contactDamping: 0.0
+        contactStiffness: 0.0
+        collisionMargin: 0.0
+      car:
+        mass: 0.0
+        lateralFriction: 0.0
+        restitution: 0.0
+        rollingFriction: 0.0
+        spinningFriction: 0.0
+        contactDamping: 0.0
+        contactStiffness: 0.0
+        collisionMargin: 0.0
+      walls:
+        mass: 0.0
+        lateralFriction: 0.0
+        restitution: 0.0
+        rollingFriction: 0.0
+        spinningFriction: 0.0
+        contactDamping: 0.0
+        contactStiffness: 0.0
+        collisionMargin: 0.0
+      floor:
+        mass: 0.0
+        lateralFriction: 0.0
+        restitution: 0.0
+        rollingFriction: 0.0
+        spinningFriction: 0.0
+        contactDamping: 0.0
+        contactStiffness: 0.0
+        collisionMargin: 0.0
 
-sensor_noise:
-  car:
-    pos: [0.01, 0.01, 0.00]
-    orient: [0.0, 0.0, 0.09]
-    dropout: 0.0
-  ball:
-    pos: [0.01, 0.01, 0.0]
-    orient: [0.0, 0.0, 0.0]
-    dropout: 0.0
+    #
+    # Object instances
+    #
 
-cars:
-  - name: "car0"
-    # init_pose:
-    #   pos: [0.5, 0.0, 0.06]
+    sensor_noise:
+      car:
+        pos: [0.01, 0.01, 0.00]
+        orient: [0.0, 0.0, 0.09]
+        dropout: 0.0
+      ball:
+        pos: [0.01, 0.01, 0.0]
+        orient: [0.0, 0.0, 0.0]
+        dropout: 0.0
 
-  # - name: "car1"
-  #   # init_pose:
-  #   #   pos: [0.5, 0.0, 0.06]
-  #   sensor_noise:
-  #     pos: [0.01, 0.01, 0.00]
-  #     orient: [0.0, 0.0, 0.09]
+    cars:
+      - name: "car0"
+        # init_pose:
+        #   pos: [0.5, 0.0, 0.06]
 
-ball:
-  init_speed: 0.0
-  # init_pose:
-  #   pos: [0.0, 0.5, 0.06]
-  #   orient: [0.0, 0.0, 0.0]
\ No newline at end of file
+      # - name: "car1"
+      #   # init_pose:
+      #   #   pos: [0.5, 0.0, 0.06]
+      #   sensor_noise:
+      #     pos: [0.01, 0.01, 0.00]
+      #     orient: [0.0, 0.0, 0.09]
+
+    ball:
+      init_speed: 0.0
+      # init_pose:
+      #   pos: [0.0, 0.5, 0.06]
+      #   orient: [0.0, 0.0, 0.0]
\ No newline at end of file
diff --git a/src/rktl_sim/config/visualization.yaml b/src/rktl_sim/config/visualization.yaml
index d88d24526..4decdf385 100644
--- a/src/rktl_sim/config/visualization.yaml
+++ b/src/rktl_sim/config/visualization.yaml
@@ -1,4 +1,6 @@
-rate: 10
-cars:
-  body_width: 0.0762 # (3 in)
-  body_length: 0.2032 # (8 in)
+/**:
+  ros__parameters:
+    rate: 10
+    cars:
+      body_width: 0.0762 # (3 in)
+      body_length: 0.2032 # (8 in)