Make the eyes follow detected faces; start the face at power-up

hermes_face now subscribes to /vision/faces and glances toward the best face (a
recognised one first, then the biggest), smoothed, holding 2.5 s and drifting
back to centre when none is seen. Sleeping ignores gaze. Image x flips on the
display: the camera looks the way the robot faces, so a person on the image's
right is on the robot's right, the viewer's left.

Fix the pan sign carried over from the prototype: positive pan is the robot's
left (the MCP contract), which is the viewer's right on the display.

robot-face.service starts the face at boot and restarts it on failure, with a
private working directory because lgpio drops a notification pipe in its cwd and
systemd's default / is not writable. robot-cpu-performance.service holds the CPU
at full clock, which halves the face's CPU cost.

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 23:11:19 -07:00

co-authored by

Claude Sonnet 5.5

parent e54ad8aa04

commit f8525c5526

9 changed files with 178 additions and 7 deletions

									
										ros/hermes_face/package.xml
									
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				@@ -10,6 +10,7 @@

				  <depend>rclpy</depend>

				  <depend>std_msgs</depend>

				  <depend>sensor_msgs</depend>

				  <depend>vision_msgs</depend>

				  <exec_depend>python3-numpy</exec_depend>

				  <exec_depend>python3-pil</exec_depend>