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
SFace embeddings on top of YuNet's landmarks. Nothing is stored until someone is
enrolled with `python -m hermes_vision.people enroll NAME`; only 128-number
embeddings are kept, never images, in a 0600 JSON file under a 0700 directory,
written atomically. `list` and `forget` manage it. The detector node puts a
recognised name in Detection2D.id (empty if unknown) and picks up database
changes without a restart.
Checked with a throwaway database on the burst frames: eight of nine unenrolled
frames were recognised, down to side profiles (similarity 0.52-0.66), the miss
being a head tipped back at 0.34 against the 0.363 threshold, and an unrelated
photo scored 0.16 and stayed unknown.
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
kyleandClaude Sonnet 5.5