vad_node:
  ros__parameters:
    sample_rate: 16000          # Expected sample rate of incoming PCM-16 audio (Hz)
    rms_threshold_db: -35.0     # Energy gate (dBFS); frames below this are silent
    zcr_min: 0.01               # ZCR lower bound — rejects DC/low-freq rumble
    zcr_max: 0.40               # ZCR upper bound — rejects high-freq noise
    onset_frames: 2             # Consecutive active frames before is_speaking=true
    offset_frames: 8            # Consecutive silent frames before is_speaking=false
    audio_topic: "/social/speech/audio_raw"  # Source PCM-16 UInt8MultiArray topic
