# UGV Configuration - GPS-Denied Navigation
/**:
  ros__parameters:
    
    # Vehicle physical parameters
    vehicle:
      wheelbase: 0.3  # meters
      track_width: 0.25  # meters
      wheel_radius: 0.05  # meters
      max_speed: 1.0  # m/s
      max_turn_rate: 1.5  # rad/s
    
    # Vision parameters for navigation
    vision:
      # Forward camera (for visual odometry and obstacle detection)
      forward_camera:
        enabled: true
        topic: "/ugv/camera/forward/image_raw"
        info_topic: "/ugv/camera/forward/camera_info"
        frame_rate: 30
        fov_horizontal: 90  # degrees
        fov_vertical: 60  # degrees
        
      # Visual odometry settings
      visual_odometry:
        enabled: true
        method: "ORB"  # Options: ORB, SIFT
        min_features: 150
        max_features: 600
        feature_quality: 0.02
        min_distance: 8
        
      # Wheel odometry (primary odometry for ground vehicle)
      wheel_odometry:
        enabled: true
        topic: "/ugv/odom"
        covariance_scale: 0.05
        
      # Obstacle detection
      obstacle_detection:
        enabled: true
        method: "depth_camera"  # or "stereo"
        min_distance: 0.3  # meters
        max_distance: 10.0  # meters
        
    # Position estimation (sensor fusion)
    position_estimator:
      fusion_method: "EKF"
      
      # Sensor weights (trust levels)
      weights:
        visual_odometry: 0.3
        wheel_odometry: 0.5
        imu: 0.2
        
      # Update rates
      update_rate: 50  # Hz
      
      # Covariance matrices
      process_noise:
        position: 0.05
        velocity: 0.2
        heading: 0.1
        
      measurement_noise:
        visual_odom: 0.08
        wheel_odom: 0.03
        imu: 0.15
    
    # Navigation parameters (RELATIVE coordinates only)
    navigation:
      frame: "LOCAL_NED"  # Never use GPS frame
      
      # Control parameters
      max_linear_velocity: 1.0  # m/s
      max_angular_velocity: 1.5  # rad/s
      linear_acceleration: 0.5  # m/s^2
      angular_acceleration: 1.0  # rad/s^2
      
      # Path following
      lookahead_distance: 0.5  # meters
      waypoint_radius: 0.3  # meters
      
      # Obstacle avoidance
      obstacle_avoidance:
        enabled: true
        detection_range: 3.0  # meters
        safety_margin: 0.5  # meters
        avoidance_method: "VFH"  # Vector Field Histogram
    
    # Mission parameters
    mission:
      default_speed: 0.5  # m/s
      turn_in_place_threshold: 0.5  # radians
      
      # Home position is LOCAL (0,0,0), not GPS
      home_mode: "local"
    
    # Safety
    safety:
      geofence:
        enabled: true
        use_gps: true  # ONLY for geofence
        action_on_breach: "STOP"
        
      failsafe:
        vision_loss_timeout: 3.0  # seconds
        action_on_vision_loss: "STOP"
        collision_distance: 0.2  # meters
        action_on_collision: "STOP"