Add hermes_face ROS package and verify the display on the Pi

The Pi (hermes-bot) is flashed, upgraded and running ROS 2 Jazzy. The ST7789
works through Blinka on lgpio: pass cs=None (the kernel owns CE0), and the glass
sits at y_offset=80 in the controller RAM for every rotation, since the driver
rotates in software. The mounted pose needs rotation=270.

hermes_face is a numpy port of the flat face from docs/face-prototype.html, with
phosphor and vector styles, plus a new `sleeping` pose for "no agent connected".
The renderer has no ROS or hardware imports. The tone map is a lookup table and
the glow runs at half resolution, so the face reaches ~28 fps on the panel at
24% of a core (20 fps) to 40% (30 fps) with the CPU at full clock.

CONTEXT.md now records the Pi, the cloud-init first-boot-only gotcha, and what
is left. pi/50-cloud-init.yaml is a gitignored Wi-Fi template.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs

This commit is contained in:

kyle

2026-10-04 20:35:33 -07:00

co-authored by

Claude Sonnet 5.5

parent ce2e007958

commit 55d33ab490

13 changed files with 937 additions and 27 deletions

									
										ros/hermes_face/setup.cfg
									
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				[develop]

				script_dir=$base/lib/hermes_face

				[install]

				install_scripts=$base/lib/hermes_face