gesture_node:
  ros__parameters:
    # Number of active CSI camera streams to subscribe to
    n_cameras: 4

    # Target processing rate in Hz.  At 10 Hz with 4 cameras, each camera
    # contributes frames at approximately 2.5 Hz (round-robin scheduling).
    process_fps: 10.0

    # Minimum MediaPipe detection confidence to publish a gesture
    min_confidence: 0.60

    # MediaPipe model complexity:
    #   0 = lite  (fastest, ≈ 13 ms/frame on Orin Nano — use for production)
    #   1 = full  (more accurate, ≈ 25 ms/frame)
    #   2 = heavy (highest accuracy, ≈ 50 ms/frame, requires large VRAM)
    model_complexity: 0

    # Maximum hands detected per frame
    max_hands: 2

    # Enable/disable inference modules
    pose_enabled: true
    hands_enabled: true

    # Comma-separated gesture allowlist.  Empty string = all gestures enabled.
    # Example: "wave,stop_palm,thumbs_up,arms_up"
    enabled_gestures: ""

    # Camera name list (must match saltybot_cameras topic naming)
    camera_names: "front,left,rear,right"