audio_pipeline_node:
  ros__parameters:
    device_name: "Jabra SPEAK 810"
    audio_device_index: -1
    sample_rate: 16000
    chunk_size: 512
    wake_word_model: "hey_salty"
    wake_word_threshold: 0.5
    wake_word_timeout_s: 8.0
    stt_backend: "whisper"
    whisper_model: "small"
    whisper_compute_type: "float16"
    whisper_language: ""
    vosk_model_path: "/models/vosk/vosk-model-en-us-0.22"
    tts_voice_path: "/models/piper/en_US-lessac-medium.onnx"
    tts_sample_rate: 22050
    mqtt_enabled: true
    mqtt_broker: "localhost"
    mqtt_port: 1883
    mqtt_base_topic: "saltybot/audio"
