personal_space_node:
  ros__parameters:
    personal_space_m: 0.8       # Minimum comfortable distance (m)
    backup_speed: 0.1           # Retreat linear speed (m/s, applied as -x)
    hysteresis_m: 0.1           # Hysteresis band above threshold (m)
    unknown_distance_m: 99.0    # Distance assumed for faces without a PersonState
    lost_timeout_s: 1.5         # Face freshness window (s)
    control_rate: 10.0          # Control loop / publish rate (Hz)
    faces_topic: "/social/faces/detected"
    states_topic: "/social/person_states"
