# LIDAR Avoidance Configuration for SaltyBot
# 360° obstacle detection with RPLIDAR A1M8

lidar_avoidance:
  ros__parameters:
    # Emergency stop distance threshold (meters)
    # Robot will trigger hard stop if obstacle closer than this
    emergency_stop_distance: 0.5

    # Reference speed for safety zone calculation (m/s)
    # 5.56 m/s = 20 km/h
    max_speed_reference: 5.56

    # Safety zone distance at maximum reference speed (meters)
    # At 20 km/h, robot maintains 3m clearance before reducing speed
    safety_zone_at_max_speed: 3.0

    # Minimum safety zone distance (meters)
    # At zero speed, robot maintains this clearance
    # Must be >= emergency_stop_distance for smooth operation
    min_safety_zone: 0.6

    # Forward scanning window (degrees)
    # ±30° forward cone = 60° total forward scan window
    # RPLIDAR A1M8 provides full 360° data, but we focus on forward obstacles
    angle_window_degrees: 60

    # Debounce frames for obstacle detection
    # Number of consecutive scans with obstacle before triggering alert
    # Reduces false positives from noise/reflections
    debounce_frames: 2
