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
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
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