# Audio direction estimator ROS2 parameters
# Used with ros2 launch saltybot_audio_direction audio_direction.launch.py --ros-args --params-file config/audio_direction_params.yaml

/**:
  ros__parameters:
    # Audio input
    device_id: -1                  # -1 = default device (Jabra)
    sample_rate: 16000             # Hz
    chunk_size: 2048               # samples per frame

    # Processing
    gcc_phat_max_lag: 64           # samples (determines angular resolution)
    vad_threshold: 0.02            # RMS energy threshold for speech
    self_noise_filter: true        # Filter robot motor/wheel noise

    # Output
    publish_hz: 10.0               # Publication rate (Hz)
