# Node watchdog configuration

node_watchdog:
  ros__parameters:
    # Publishing frequency in Hz
    frequency: 20  # 20 Hz = 50ms cycle

    # General heartbeat timeout (seconds)
    # Alert if any heartbeat lost for this duration
    heartbeat_timeout: 1.0

    # Motor driver critical timeout (seconds)
    # Trigger safety fallback (zero cmd_vel) if motor driver down this long
    motor_driver_critical_timeout: 2.0
