here4_can_node:
  ros__parameters:
    # SocketCAN interface — freed from ESP32 BALANCE comms by bd-wim1
    can_interface: can0

    # DroneCAN bitrate — Here4 runs at 1 Mbps (not 500 kbps used previously)
    bitrate: 1000000

    # Local DroneCAN node ID for this Orin instance (1-127, must be unique on bus)
    local_node_id: 126

    # Set true to run: ip link set can0 type can bitrate 1000000 && ip link set can0 up
    # Requires: sudo setcap cap_net_admin+eip $(which python3)  or  run as root
    # Default false — manage interface externally (systemd-networkd or udev)
    bring_up_can: false

    # Here4 DroneCAN node ID — 0 means auto-detect from first Fix2 message
    node_id_filter: 0

    # TF frame IDs
    fix_frame_id: gps
    imu_frame_id: here4_imu
