# vlm_detect 参数配置

vlm_node:
  ros__parameters:
    vlm_host: "http://192.168.10.189:8000"
    vlm_model: "./OpenGVLab/InternVL3-1B/"
    image_topic: "/image_mjpeg"
    trigger_topic: "/sign4return"
    trigger_sign: 9
    result_topic: "/vlm_result"
    prompt_text: "描述图片中有一个病人的特征，字数控制在20字以内。"
    max_tokens: 100

tts_node:
  ros__parameters:
    audio_sink: "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
    result_topic: "/vlm_result"
    tts_speed: 1.5
