hermes_thermal reads the CPU temperature and throttle flags, publishes /health/*, and at
72 / 77 / 82 C scales the camera, face and detector rates down through their live
parameters, restoring them as it cools one level at a time with a margin and a dwell so it
does not flap. The face and detector gained live parameter callbacks for this, the bridge's
robot://status carries a health block (temperature, level, throttle flags now and since
boot), and a bringup test asserts the guard's normal rates equal the real ones.
Live testing on the robot (forcing 73 / 78 / 85 C and back) caught a bug the unit tests
missed: one logging line whose severity changed between warn and info raised in rclpy and
killed the guard on its first cooling step, and the respawn hid it. Fixed with separate call
sites; the tick now survives any error; a full heat-then-cool test drives the real node, and
a mutation check confirmed it fails on the original bug.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
A raw MCP client and a fresh `hermes mcp test robot` both list faces, look and
list_people, and Hermes's own log shows it registering all of them at 01:18:46 after
the robot restart and a later session calling faces() fine. The reporting session
started at 00:35, before faces existed, and keeps its start-time snapshot of the tool
table. Record the cause and the fix (start a new Hermes session) in the README
troubleshooting and CONTEXT.md, and note why the bridge keeps stateful sessions.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
Hermes asked for structured detections instead of a bare JPEG. faces() returns the
faces in view with no photo: a persistent track id, bbox, detection confidence, how
long the person has been in view, and identity {name, similarity} or null, never a
made-up name. look() returns that same JSON as text plus the photo (send_image can
skip it); list_people() gives names and counts; robot://status and two prompts make
the server discoverable, where list_resources and list_prompts were empty. The
detector now tracks faces across frames (FaceTracker) and publishes the track id and
the identity as a second hypothesis.
Deliberately not built: embeddings in responses, age/gender attributes, auto-updating
face data, and a remote enroll tool (a prompt could make the robot call anyone "Kyle").
Checked end to end: a real Hermes turn on the local ornith model called faces() (0.03 s,
no image) and answered that Kyle was there at 0.78 similarity. Also: the camera is
calibrated (18 of 24 views, 0.296 px, outlier rejection added) and the calibration is
kept in pi/calibration and restored by the installer.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
hermes_vision.calibrate collects 20 varied checkerboard views from the camera topic
(rejecting repeats of a pose, which constrain nothing), solves with OpenCV and writes
the camera_info YAML camera_ros loads, named with the resolution as it expects.
Tested: the solver recovers a known synthetic camera (focal length within 1%), the
YAML round-trips, and real board detection works on a rendered board. Not yet run on
the real camera: it needs someone holding a board in front of it, with the focus set.
docs/checkerboard-9x6.png is a 10x7-square board that can be shown on a screen.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
Wi-Fi-off acceptance passed: with Wi-Fi blocked, live and after a reboot, the Pi
came up on the USB link alone, every node ran, and hermes mcp test robot and look()
worked. (A temporary guard that would have unblocked Wi-Fi was the safety net and is
removed; Wi-Fi is back on.)
Delete what the ROS design superseded: the Picamera2 MCP server and its unit, the old
installer and requirements, and the duplicate platform check. Move omarchy/ to
host/omarchy/. Rewrite README.md for this build: parts, physical steps (including the
Audio switch), setup, daily use, the troubleshooting learned the hard way, and the
security model.
pi/install.sh is now the single installer for a fresh Ubuntu 24.04 image, built from the
steps done by hand: ROS, the libcamera fork at a pinned commit, camera_ros, the venv and
models, the workspace, USB gadget, audio overlay, firewall (before PipeWire opens a
port), PipeWire, mixer and services. Run twice on the live robot, the second run changed
nothing and everything stayed healthy. It has not been run on a blank card.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
kyleandClaude Sonnet 5.5