/**:
  ros__parameters:
    # Control loop rate (Hz)
    control_rate: 20.0

    # Odometry topic for stuck detection
    odom_topic: "/saltybot/rover_odom"

    # ── LaserScan forward sector ───────────────────────────────────────────────
    forward_scan_angle_rad: 0.785   # ±45° forward sector

    # ── Obstacle proximity ────────────────────────────────────────────────────
    stop_distance_m:     0.30       # MAJOR threshold (spec: <30 cm)
    critical_distance_m: 0.10       # CRITICAL threshold
    min_cmd_speed_ms:    0.05       # ignore obstacle when nearly stopped

    # ── Fall detection (IMU tilt) ─────────────────────────────────────────────
    minor_tilt_rad:    0.20         # advisory
    major_tilt_rad:    0.35         # stop + recover
    critical_tilt_rad: 0.52         # ~30° — full shutdown
    floor_drop_m:      0.15         # depth discontinuity triggering MAJOR

    # ── Stuck detection ───────────────────────────────────────────────────────
    stuck_timeout_s: 3.0            # (spec: 3 s wheel stall)

    # ── Bump / jerk detection ─────────────────────────────────────────────────
    jerk_threshold_ms3:          8.0
    critical_jerk_threshold_ms3: 25.0

    # ── FSM / recovery ────────────────────────────────────────────────────────
    stopped_ms:            0.03     # speed below which robot is "stopped" (m/s)
    major_count_threshold: 3        # MAJOR alerts before escalation to CRITICAL
    escalation_window_s:   10.0     # sliding window for escalation counter (s)
    suppression_s:         1.0      # de-bounce period for duplicate alerts (s)

    # Recovery sequence
    reverse_speed_ms:   -0.15       # back-up speed (m/s; must be negative)
    reverse_distance_m:  0.30       # distance to reverse each cycle (m)
    angular_speed_rads:  0.60       # turn speed (rad/s)
    turn_angle_rad:      1.5708     # ~90° turn (rad)
    retry_timeout_s:     3.0        # time in RETRYING per attempt (s)
    clear_hold_s:        0.50       # consecutive clear time to declare success (s)
    max_retries:         3          # maximum reverse+turn attempts before GAVE_UP
