audio_state taps the microphone and the speaker monitor with parec and publishes
levels, a speaking/listening/quiet activity, and trigger-locked waveform windows;
audio itself stays out of ROS. The activity detector calibrates its noise floor
at start-up and absorbs steady noise, so a room at -43 dBFS does not read as
"listening" forever, and it ignores the mic while the robot speaks.
The face arbitrates the state it shows: sleeping (agent side only, so room sound
never wakes a face that means "no agent connected") > speaking > listening >
thinking > idle, and draws the mouth from the real samples while fresh scope data
exists, auto-scaled so a quiet voice is still visible.
Checked: a tone played to the sink shows as `speaking` with the mic ignored. The
microphone-to-mouth path with a live voice is not yet confirmed.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
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
Capture works: singing at arm's length reads -34 to -49 dBFS RMS with peaks at
-18 dBFS and no clipping. The earlier all-zero recordings were the HAT's hardware
Audio ON/OFF switch being off; the codec answers on I2C and looks fully
configured either way. Save the stored mixer state (capture +18 dB, input mixer
boost on) in pi/wm8960_asound.state.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
hermes_vision wraps OpenCV YuNet (Haar fallback) as a plain module plus a node
that publishes /vision/faces as vision_msgs/Detection2DArray. It replaces the
standalone detect_faces.py. pi/robot-env.sh puts the Raspberry Pi libcamera fork
ahead of ROS's own copy, the venv's OpenCV 4.10 ahead of the apt one, and fixes
the ROS domain and subnet-only discovery. camera_ros 0.7.0 now runs against the
fork and publishes raw and compressed images.
The stock wm8960-soundcard overlay fails on Ubuntu 24.04 with "No MCLK
configured": it hangs the clock on the sound card's codec link, but the codec
driver reads mclk from its own node. hermes-wm8960.dts adds it there, and
capture opens at 8-48 kHz. The microphones still read digital zeros; see
CONTEXT.md for what has been ruled out.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
Stock libcamera 0.2.0 (Ubuntu) and ROS Jazzy's 0.7.2 both detect the OV5647 but
crash in the Pi IPA when capturing, for every stream format and size. The
Raspberry Pi fork, built into /opt/libcamera-rpi, captures 1296x972 frames.
capture_still.py takes a still with it, and detect_faces.py runs OpenCV YuNet
(Haar fallback) on images. YuNet needs OpenCV 4.8+ and input sides in multiples
of 32, so the venv carries opencv-python-headless 4.10 pinned with numpy<2.
camera_ros still has to be built against the fork.
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
The Pi presents NCM Ethernet and ACM serial from a configfs gadget, started by
robot-usb-gadget.service before networking. usb0 gets 10.55.0.2/30 with no
gateway through netplan, matched by interface name: a MAC match turns into
PermanentMACAddress= in networkd, which a gadget interface does not have, so it
stayed unmanaged. talos reaches the Pi at 10.55.0.2 (ping ~2.4 ms, SSH works)
through a NetworkManager profile, host/omarchy/robot-usb-link.sh, matched by the
gadget's fixed host MAC.
Also clamp the face's tunable parameters (focus sets a blur radius, persistence
divides) and fps, after a review flagged unvalidated node parameters.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
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
kyleandClaude Sonnet 5.5