ROS never leaves the robot, by the owner's decision: the firewall drops domain
42's DDS ports on every interface but loopback (usb0 included), discovery is
pinned to LOCALHOST, and hermes_mcp is the only bridge to the outside. PipeWire
1.0.5 runs as hermes's user services with its network server on TCP 4713; the
firewall, loaded at boot before it, is the protection. Verified from talos: 4713
connects over usb0 and times out over Wi-Fi.
CONTEXT.md brought up to date: the face service, gaze, recognition, the firewall,
and what is left.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
DDS has no authentication, and /camera/* and /vision/faces carry video and
recognised names. Discovery now defaults to this machine only
(ROBOT_ROS_DISCOVERY=SUBNET to opt in; a ${VAR:-default} on ROS's own variable
never applied, since its setup script already exports SUBNET), and the firewall
drops domain 42's DDS ports on every interface but usb0 and loopback. The
detector's startup log prints a count of enrolled people, not their names.
robot-firewall.service loads the rules before networking at every boot: they had
only been loaded at runtime and were gone after each reboot, which has to be fixed
before the PipeWire network server opens port 4713.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
Audio (4713), MCP (8765) and the face webhook (8766) are accepted only on usb0
from 10.55.0.1 and dropped on every other interface, Wi-Fi included. SSH is left
open on all interfaces for V2, by the owner's decision. Tested on the Pi with
throwaway listeners: 8765 answers over usb0 and is unreachable over Wi-Fi, while
a control port answers on both.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
kyleandClaude Sonnet 5.5