equirect_stitcher:
  ros__parameters:
    calibration_dir: '/mnt/nvme/saltybot/calibration'
    output_width: 1920
    output_height: 960
    publish_rate: 15.0
    blend_margin_px: 30
    camera_height: 0.30
    camera_pitch_deg: 0.0
    publish_compressed: true
    jpeg_quality: 80
    use_cuda: true

rtsp_server:
  ros__parameters:
    rtsp_port: 8554
    rtsp_path: '/panoramic'
    width: 1920
    height: 960
    fps: 15
    bitrate_kbps: 4000
    use_nvenc: true
