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- 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
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