angular_sign: -1.0
kp: 0.25
min_angular_speed: 0.10
max_angular_speed: 0.12
# Accept the middle 36% of the image; precise centring is not required.
center_tolerance: 0.18
center_confirm_frames: 3
max_angular_acceleration: 0.15
detection_timeout_seconds: 0.35
alignment_timeout_seconds: 30.0
control_rate: 20.0
# At each completed 60-degree step, inference is enabled for this window.
scan_steps: 6
scan_direction: 1.0
scan_angular_speed: 0.20
scan_yaw_tolerance: 0.03
scan_detection_window_seconds: 1.0
odom_timeout_seconds: 0.50

# Opt-in wall approach: ray-cast the static map after visual alignment.
wall_approach_enabled: false
wall_standoff_distance: 0.60
wall_ray_max_distance: 5.0
wall_occupied_threshold: 65
wall_fit_radius: 0.60
wall_line_inlier_distance: 0.05
wall_line_min_length: 0.25
wall_line_min_support: 8
# Select the wall face whose normal is within 60 degrees of the camera ray.
wall_line_min_facing_alignment: 0.50
wall_line_max_points: 180
# Prefer latest map -> base_link TF; use AMCL only if TF is temporarily unavailable.
tf_map_frame: map
tf_base_frame: base_link
tf_lookup_timeout_seconds: 0.20
amcl_pose_fallback_timeout_seconds: 5.0
wall_goal_server_timeout_seconds: 2.0

# After the final wall alignment, confirm the factory type from the full camera image.
ocr_confirmation_enabled: true
ocr_timeout_seconds: 15.0
ocr_enable_service: /sign_recognition/set_enabled

# After OCR confirmation, enter the wall-adjacent white box with move_base/TEB.
entry_goal_enabled: true
entry_standoff_distance: 0.28
entry_white_box_depth: 0.50
entry_vehicle_length: 0.335
enabled: false
cmd_vel_topic: /cmd_vel