# This sample YAML config file is catered towards running the H264 Encoder Node on a Raspberry Pi based system
h264_video_encoder:
  ros__parameters:
    # The name of the topic to which the H264 encoder node should subscribe to obtain the feed desired to be encoded
    # The topic must be a sensor_msgs/Image message
    subscription_topic: "/raspicam_node/image"

    # The name of the topic to which H264 encoder node should publish the encoded video stream
    # The topic will be a kinesis_video_msgs/KinesisVideoFrame message
    publication_topic: "/video/encoded"

    # The size of the subscribed and publishing message queues (default: 100)
    # queue_size: 100

    # The desired output width of the encoded video stream (default: width of the input image stream)
    # output_width:

    # The desired output height of the encoded video stream (default: height of the input image stream)
    # output_height:

    # The numerator when expressing the frame rate as a rational number
    fps_numerator: 30

    # The denominator when expressing the frame rate as a rational number (default: 1)
    fps_denominator: 1

    # The target bit rate in bits per second of the output video stream
    bitrate: 2048000