# past_control — Racing control stack configuration
# No a_star_planner_node: global planning handled by Nav2 planner_server via /plan

# ============================================================
#  lane_follower_node — Visual lane centering
# ============================================================
lane_follower_node:
  ros__parameters:
    follow_linear_speed: 0.3
    follow_angular_ratio: 1.0
    image_width: 640.0

# ============================================================
#  obstacle_detector_node — DNN-based obstacle perception
# ============================================================
obstacle_detector_node:
  ros__parameters:
    confidence_threshold: 0.5
    processing_latency: 0.1
    camera_hfov: 1.0472       # 60 degrees
    camera_height: 0.3
    camera_pitch: 0.0
    max_detection_range: 3.0
    publish_rate: 10.0

# ============================================================
#  racing_orchestrator — Task FSM + PID path following (Nav2 /plan) + arbitration
# ============================================================
racing_orchestrator:
  ros__parameters:
    # PID path following (path source: Nav2 planner_server /plan)
    follow_linear_speed: 0.4
    guide_step: 5
    arrive_square: 0.25       # distance^2 threshold (0.5m)
    angular_kp: 10.0
    angular_ki: 0.0
    angular_kd: 0.1
    angular_integral_max: 1.0
    angular_output_max: 2.0
    angular_max_err: 3.14

    # Obstacle avoidance fallback
    avoid_linear_speed: 0.2
    avoid_angular_z: 0.8

    # QR scan mode
    qr_scan_speed: 0.15
    qr_scan_duration: 3.0

    # Control loop rate
    control_rate: 20.0