rosbag_recorder_node:
  ros__parameters:
    trigger_topic:  "/saltybot/record_trigger"
    status_topic:   "/saltybot/recording_status"

    # Comma-separated topic list to record.
    # Empty string = record all topics (ros2 bag record --all).
    # Example: "/saltybot/camera_status,/saltybot/wake_word_detected,/cmd_vel"
    topics: ""

    bag_dir:    "/tmp/saltybot_bags"   # output directory (created if absent)
    bag_prefix: "saltybot"             # filename prefix; timestamp appended

    auto_stop_s:    60.0   # auto-stop after N seconds; 0 = disabled
    stop_timeout_s:  5.0   # force-kill if subprocess won't stop within N s

    compression:     false  # enable zstd file-level compression
    max_bag_size_mb: 0.0    # split bags at this size (MiB); 0 = no limit

    poll_rate: 2.0           # state-machine check frequency (Hz)
