mesh_comms_node:
  ros__parameters:
    robot_id: "saltybot_1"           # Set to $ROBOT_ID; override per-robot
    namespace: ""                    # "" = default namespace; e.g. "/saltybot_1"
    announce_rate_hz: 1.0            # Heartbeat rate (Hz) — keep <= 2 Hz on mesh
    peer_timeout_s: 5.0              # Drop peer after this many seconds without announce
    handoff_distance_m: 3.0          # (guard) min distance for handoff trigger (m)
    greeted_memory_s: 300.0          # Forget a greeted name after N seconds
