# Safety gate: the controller starts in observation mode and never moves the
# vehicle until this parameter is explicitly changed to true.
enabled: false

# These are published by line_follow_debug.py after its metric IPM processing.
lane_valid_topic: /line_follow_debug/lane_valid
lookahead_target_topic: /line_follow_debug/lookahead_target
cmd_vel_topic: /cmd_vel

# Real-route controller settings.
control_rate: 20.0
linear_speed: 0.15
# LEFT/RIGHT routes and the STRAIGHT route before turn two use 0.15 m/s.
# FOLLOW_AFTER_SECOND automatically slows to 0.10 m/s.
task_state_topic: /traffic_line_task/state
normal_linear_speed: 0.15
after_second_linear_speed: 0.10
# Pure-pursuit angular.z = linear_speed * curvature_gain * 2*y/(x^2+y^2).
curvature_gain: 1.8
# Retain the verified steering safety limit after increasing linear speed.
max_angular_speed: 0.20

# The published metric target follows base_link: +x forward and +y left.
steering_sign: 1.0

# Smooth target motion slightly without introducing a distance/time delay.
target_alpha: 0.65
lateral_deadband_m: 0.01
min_target_forward_m: 0.10
max_target_distance_m: 1.50
target_timeout: 0.50