Add hermes_mcp, the bridge between Hermes and the ROS graph

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

									
										ros/hermes_bringup/package.xml
									
		+1
		
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				@@ -14,6 +14,7 @@

				  <exec_depend>hermes_face</exec_depend>

				  <exec_depend>hermes_vision</exec_depend>

				  <exec_depend>hermes_audio</exec_depend>

				  <exec_depend>hermes_mcp</exec_depend>

				  <test_depend>python3-pytest</test_depend>