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Add hermes_mcp, the bridge between Hermes and the ROS graph

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The MCP server is now a ROS node and the only way in or out, per the owner's
decision that ROS never leaves the robot. It serves MCP on the USB address only
with a bearer token, keeps the stable tool name look() (which waits for the next
camera frame, so it is never stale, and passes the camera's JPEG through), and
registers turn_head/head_position only when a head is fitted, which today it is
not. While an authenticated client is connected it republishes the agent
heartbeat on /hermes/state, so the face wakes on connect and sleeps about 40 s
after the client leaves; look() also makes the face squint.

The token is generated on the Pi into /etc/robot-mcp.env (root:hermes, 640) and
never printed. Verified end to end from talos with a real MCP client over the USB
link: tools listed, a 157 KB JPEG back in 0.08 s, a wrong token refused, the Wi-Fi
path dropped by the firewall. Host config snippets now point at 10.55.0.2.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
This commit is contained in:
kyle
2026-10-05 00:20:58 -07:00
co-authored by Claude Sonnet 5.5
parent d8db0a48f5
commit 167f53ceeb
17 changed files with 462 additions and 24 deletions
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ros/hermes_bringup/launch/robot.launch.py
+6 -5
View File
@@ -1,12 +1,12 @@
"""Bring up the robot: camera, face, face detection, audio levels.
"""Bring up the robot: camera, face, face detection, audio levels, and the MCP bridge.
ros2 launch hermes_bringup robot.launch.py [camera:=false] [face:=false] [vision:=false] [audio:=false]
ros2 launch hermes_bringup robot.launch.py [camera:=false] [face:=false] [vision:=false] [audio:=false] [mcp:=false]
[start_delay:=6.0]
Every node is its own process and is respawned if it exits, so one crash cannot take the others
down: the face keeps running when the camera does not. Parameters are in config/robot.yaml.
The face starts at once; the camera, vision and audio nodes wait start_delay seconds, so the four
The face starts at once; the camera, vision, audio and MCP nodes wait start_delay seconds, so the four
Python processes do not fight over the CPU while the face imports and draws its first frame.
"""
import os
@@ -24,10 +24,11 @@ NODES = [
('face', 'hermes_face', 'face_node', 'hermes_face'),
('vision', 'hermes_vision', 'face_detector', 'hermes_face_detector'),
('audio', 'hermes_audio', 'audio_state', 'hermes_audio_state'),
('mcp', 'hermes_mcp', 'mcp_server', 'hermes_mcp'),
]
DELAYED = {'camera', 'vision', 'audio'}
DELAYED = {'camera', 'vision', 'audio', 'mcp'}
def generate_launch_description():
@@ -35,7 +36,7 @@ def generate_launch_description():
actions = [DeclareLaunchArgument(arg, default_value='true', description=f'run the {name} node')
for arg, _, _, name in NODES]
actions.append(DeclareLaunchArgument('start_delay', default_value='6.0',
description='seconds the camera, vision and audio wait for the face'))
description='seconds the other nodes wait for the face'))
for arg, package, executable, name in NODES:
node = Node(package=package, executable=executable, name=name, output='screen',
parameters=[params], respawn=True, respawn_delay=2.0,