uwb_anchor_calibration:
  ros__parameters:
    # Serial ports for each anchor, indexed by anchor ID
    # udev rules create stable symlinks in /dev/uwb-anchor<N>
    anchor_serials:
      - /dev/uwb-anchor0
      - /dev/uwb-anchor1
      - /dev/uwb-anchor2
      - /dev/uwb-anchor3

    baud_rate: 115200

    # Seconds to wait for a +PEER_RANGE response per attempt
    peer_range_timeout_s: 2.0

    # Range measurements to average per anchor pair (higher = more accurate)
    default_n_samples: 5
