speech_pipeline_node:
  ros__parameters:
    mic_device_index: -1          # -1 = system default; use `arecord -l` to list
    sample_rate: 16000
    wake_word_model: "hey_salty"
    wake_word_threshold: 0.5
    vad_threshold_db: -35.0
    use_silero_vad: true
    whisper_model: "small"        # small (~500ms), medium (better quality, ~900ms)
    whisper_compute_type: "float16"
    whisper_language: ""          # "" = auto-detect; set e.g. "fr" to force
    speaker_threshold: 0.65
    speaker_db_path: "/social_db/speaker_embeddings.json"
    publish_partial: true