/camera_node:
  ros__parameters:
    camera_info_url: package://rm_vision_bringup/config/camera_info.yaml
    exposure_time: 2500
    gain: 8.0

/serial_driver:
  ros__parameters:
    timestamp_offset: 0.006
    device_name: /dev/ttyACM0
    baud_rate: 115200
    flow_control: none
    parity: none
    stop_bits: "1"

/armor_detector:
  ros__parameters:
    debug: false

    detect_color: 0
    binary_thres: 80

    light.min_ratio: 0.1
    armor.min_light_ratio: 0.75

    classifier_threshold: 0.8
    ignore_classes: ["negative","outpost"]

/armor_tracker:
  ros__parameters:
    target_frame: odom
    max_armor_distance: 10.0

    ekf:
      sigma2_q_xyz:  0.05 #0.01
      sigma2_q_yaw: 5.0 #1.0
      sigma2_q_r: 80.0

      r_xyz_factor: 4e-4
      r_yaw: 5e-3

    tracker:
      max_match_distance: 0.25
      max_match_yaw_diff: 0.85

      tracking_thres: 5
      lost_time_thres: 1.0