wake_word_node:
  ros__parameters:
    audio_topic:      "/social/speech/audio_raw"   # PCM-16 mono input (UInt8MultiArray)
    output_topic:     "/saltybot/wake_word_detected"

    sample_rate:      16000     # Hz — must match audio source
    window_s:         1.5       # detection window length (s)
    hop_s:            0.1       # detection timer period (s)

    energy_threshold: 0.02      # RMS gate; below this → skip matching
    match_threshold:  0.82      # cosine-similarity gate; above → detect
    cooldown_s:       2.0       # minimum gap between successive detections (s)

    # Path to .npy template file (log-mel features of 'hey salty' recording).
    # Leave empty for passive mode (no detections fired).
    template_path: ""           # e.g. "/opt/saltybot/models/hey_salty.npy"

    n_fft:  512     # FFT size for mel spectrogram
    n_mels: 40      # mel filterbank bands
