camera_node:
  ros__parameters:
    camera_device: /dev/video0
    frame_width: 320
    frame_height: 240
    fps: 15

gps_node:
  ros__parameters:
    gps_provider: termux
    update_rate: 1.0

imu_node:
  ros__parameters:
    imu_source: termux
    update_rate: 50.0

openclaw_chat_node:
  ros__parameters:
    model_path: /data/data/com.termux/files/home/.cache/openclaw/model.gguf
    context_size: 256
    top_p: 0.95
    temperature: 0.7

phone_ws_bridge:
  ros__parameters:
    bridge_url: ws://saltylab-orin:9090
    reconnect_interval: 5.0
