gimbal_node:
  ros__parameters:
    # Serial port connecting to ESP32-S3 over JLINK protocol
    serial_port: "/dev/ttyTHS1"
    baud_rate: 921600

    # Soft angle limits (degrees, ± from center)
    pan_limit_deg: 150.0
    tilt_limit_deg: 45.0

    # Home position (degrees from center)
    home_pan_deg: 0.0
    home_tilt_deg: 0.0

    # Motion profile
    max_speed_deg_s: 90.0      # maximum pan/tilt speed (°/s)
    accel_deg_s2: 180.0        # trapezoidal acceleration (°/s²)

    # Update rates
    update_rate_hz: 20.0       # motion tick + JLINK TX rate
    state_publish_hz: 10.0     # /saltybot/gimbal/state publish rate

    # Serial reconnect
    reconnect_delay_s: 2.0

    # D435i camera parameters (for look_at 3D→pan/tilt projection)
    camera_focal_length_px: 600.0
    image_width_px: 848
    image_height_px: 480