rover_driver:
  ros__parameters:
    # Serial interface
    serial_port: /dev/ttyUSB_rover
    baud_rate: 115200

    # Drive variant
    four_wheel: true          # true=4WD skid-steer, false=2WD differential

    # Physical parameters
    track_width: 0.28         # left↔right wheel centre distance (m)
    wheelbase: 0.30           # front↔rear axle distance (m) — used for odometry

    # Speed limits
    max_speed_ms: 2.0         # m/s at full ESC deflection
    max_linear_vel: 1.5       # clamp on cmd_vel linear.x (m/s)
    max_angular_vel: 3.0      # clamp on cmd_vel angular.z (rad/s)

    # ESC PWM settings
    pwm_neutral_us: 1500      # neutral/brake pulse width (µs)
    pwm_range_us: 500         # half-range from neutral → [1000..2000] µs

    # Timing
    cmd_vel_timeout_s: 0.5    # deadman: zero ESCs if /cmd_vel goes silent
    heartbeat_period_s: 0.2   # H\n heartbeat interval
    control_rate: 50.0        # Hz
