map_manager:
  ros__parameters:
    # Directory containing RTAB-Map .db files (must match database_path in rtabmap_params.yaml)
    maps_dir: '/mnt/nvme/saltybot/maps'
    # Directory for exported PGM / PLY / PCD files
    exports_dir: '/mnt/nvme/saltybot/maps/exports'
    # Auto-save interval in seconds (default: 300 = 5 minutes)
    autosave_interval: 300.0
    # Number of autosave_*.db files to keep; older ones pruned automatically
    keep_autosaves_n: 5
    # Log a warning if current.db grows beyond this size (MB)
    max_db_size_mb: 2048
