social_nav:
  ros__parameters:
    follow_mode: 'shadow'
    follow_distance: 1.2
    lead_distance: 2.0
    orbit_radius: 1.5
    max_linear_speed: 1.0
    max_linear_speed_fast: 5.5
    max_angular_speed: 1.0
    goal_tolerance: 0.3
    routes_dir: '/mnt/nvme/saltybot/routes'
    home_x: 0.0
    home_y: 0.0
    map_resolution: 0.05
    obstacle_inflation_cells: 3

midas_depth:
  ros__parameters:
    onnx_path: '/mnt/nvme/saltybot/models/midas_small.onnx'
    engine_path: '/mnt/nvme/saltybot/models/midas_small.engine'
    process_rate: 5.0
    output_scale: 1.0
