# RPLIDAR A1M8 configuration
#
# Hardware specs:
#   Model:         RPLIDAR A1M8 (rev 6)
#   Interface:     USB-UART via CP2102 adapter (VID:10c4 PID:ea60)
#   Baud rate:     115200
#   Scan rate:     ~5.5 Hz  (1440 points/scan @ 8000 samples/s)
#   Range:         0.15 m – 12 m (reliable to ~8 m indoors)
#   Angular res:   ~0.9° per sample
#   Scan mode:     Standard (A1M8 only supports this mode)
#
# udev symlink (from jetson/docs/pinout.md 99-saltybot.rules):
#   /dev/rplidar  →  ttyUSB* where ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60"
#
# Published topics:
#   /scan    sensor_msgs/LaserScan    ~5.5 Hz
#     angle_min:  -π rad  (-180°)
#     angle_max:  +π rad  (+180°)
#     range_min:   0.15 m
#     range_max:  12.0 m
#     scan_time:  ~0.182 s per revolution

rplidar_node:
  ros__parameters:
    serial_port:       "/dev/rplidar"    # udev symlink — stable across reboots
    serial_baudrate:   115200
    frame_id:          "laser"           # must match TF in sensors.launch.py
    inverted:          false             # scan direction: false = counter-clockwise
    angle_compensate:  true              # compensate for motor rotation offset
    scan_mode:         "Standard"        # A1M8 only supports Standard mode