Run the whole robot from one launch file and one boot-time unit

hermes_bringup starts the face, camera, face detector and audio levels from one launch file with their parameters in robot.yaml, each node its own respawned process, the face first and the others after start_delay. robot.service runs it at boot, so everything is ROS and the face is up whenever the robot is powered. Reboot-tested: all services and nodes return by themselves, the face draws at about 28 s on the boot clock, the mic gain survives, nothing throttles. Cut the CPU: the camera runs at 15 fps (20% of a core, vs 40% at 30), and the detector went from 131% to 40% by pinning OpenCV to one thread (its DNN burns 3-4x its elapsed time across cores), decoding the JPEG at half size, and re-identifying a tracked face at most once a second. The audio scope is published only while someone is speaking or listening. A standalone face unit that skipped `ros2 launch` saved only 3.7 s and was dropped: the owner prefers everything in ROS and is fine with up to a minute. trim-boot.sh disables the unused snapd and ModemManager. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
2026-10-05 00:10:09 -07:00
parent 5d1ad1eff7
commit d8db0a48f5
18 changed files with 332 additions and 48 deletions
@@ -0,0 +1,32 @@
+# Parameters for the robot's nodes, keyed by node name. The MCP token and other secrets do not
+# belong here: they stay in an env file readable only by the service user.
+camera:
+  ros__parameters:
+    width: 1296                        # the OV5647's full-field binned mode: whole field of view
+    height: 972
+    format: RGB888
+    FrameDurationLimits: [66666, 66666]   # 15 fps: ~20% of a core, vs ~40% at 30; plenty for 4 Hz faces
+    jpeg_quality: 80
+
+hermes_face:
+  ros__parameters:
+    rotation: 270                      # mounted pose, microSD end up (the panel is portrait)
+    x_offset: 0
+    y_offset: 80                       # the 240x240 glass sits 80 rows into the controller's RAM
+    fps: 30.0
+    phosphor: P7
+    style: phosphor
+    initial_state: sleeping            # no agent connected until hermes_mcp's heartbeat says so
+    agent_timeout_s: 10.0
+    gaze_follow: true
+    audio_drive: true
+
+hermes_face_detector:
+  ros__parameters:
+    rate_hz: 4.0
+    recognize: true                    # only recognises people enrolled with hermes_vision.people
+    publish_debug: false
+
+hermes_audio_state:
+  ros__parameters:
+    rate_hz: 30.0