esp32_balance_node:
  ros__parameters:
    # USB-CDC serial port: CH343 chip, VID:PID 1a86:55d3
    # Udev symlink set by jetson/docs/pinout.md udev rules
    serial_port: /dev/esp32-balance
    baud_rate: 460800

    # /cmd_vel linear.x (m/s) → speed units sent to ESP32-S3 BALANCE
    speed_scale: 1000.0
    # /cmd_vel angular.z (rad/s) → steer units (negative = flip turn convention)
    steer_scale: -500.0

    # Safety: send CMD_DRIVE(0,0) if /cmd_vel silent for this many seconds
    command_timeout_s: 0.5

    # CMD_HEARTBEAT TX interval in seconds (ESP32-S3 watchdog fires at 500 ms)
    heartbeat_period: 0.2

    # Reconnect attempt interval when serial is lost
    reconnect_delay: 2.0
