espnow_relay:
  ros__parameters:
    # USB serial port for the ESP32 ESP-NOW receiver.
    # Add a udev rule to create a stable symlink:
    #   SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001",
    #   ATTRS{serial}=="<RECEIVER_SERIAL>", SYMLINK+="espnow-relay"
    serial_port: /dev/espnow-relay
    baudrate: 115200

    # Serial read timeout in seconds (tune for latency vs CPU usage)
    read_timeout_s: 0.1

    # Range validity window in metres
    min_range_m: 0.1
    max_range_m: 120.0

    # How long (seconds) to hold /saltybot/estop True after last ESTOP packet.
    # Tag sends 3× clear packets on button release; latch handles packet loss.
    estop_latch_s: 2.0

    # Whether to publish MSG_HEARTBEAT frames on /uwb/espnow/heartbeat
    publish_heartbeat: true
