kyleandClaude Sonnet 5.5
167f53ceeb
The MCP server is now a ROS node and the only way in or out, per the owner's decision that ROS never leaves the robot. It serves MCP on the USB address only with a bearer token, keeps the stable tool name look() (which waits for the next camera frame, so it is never stale, and passes the camera's JPEG through), and registers turn_head/head_position only when a head is fitted, which today it is not. While an authenticated client is connected it republishes the agent heartbeat on /hermes/state, so the face wakes on connect and sleeps about 40 s after the client leaves; look() also makes the face squint. The token is generated on the Pi into /etc/robot-mcp.env (root:hermes, 640) and never printed. Verified end to end from talos with a real MCP client over the USB link: tools listed, a 157 KB JPEG back in 0.08 s, a wrong token refused, the Wi-Fi path dropped by the firewall. Host config snippets now point at 10.55.0.2. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
37 lines
1.5 KiB
Plaintext
37 lines
1.5 KiB
Plaintext
# ~/.config/pipewire/pipewire.conf.d/50-robot-tunnel.conf (on Omarchy)
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#
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# Makes the robot's speaker and microphone appear here as ordinary audio devices,
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# "Robot speaker" and "Robot microphone". The robot is 10.55.0.2 on the USB link, a fixed address;
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# the robot's firewall accepts port 4713 only over that link, from 10.55.0.1.
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#
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# Apply with: systemctl --user restart pipewire pipewire-pulse wireplumber
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context.modules = [
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{ name = libpipewire-module-pulse-tunnel
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args = {
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tunnel.mode = sink
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pulse.server.address = "tcp:10.55.0.2:4713"
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#pulse.device = "robot_ec_sink" # only with the Pi's optional echo-cancel config
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pulse.latency = 200 # ms; lower is snappier but may crackle on weak Wi-Fi
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reconnect.interval.ms = 5000 # keep retrying while the robot is off
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stream.props = {
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node.name = "robot_speaker"
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node.description = "Robot speaker"
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}
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}
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}
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{ name = libpipewire-module-pulse-tunnel
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args = {
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tunnel.mode = source
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pulse.server.address = "tcp:10.55.0.2:4713"
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#pulse.device = "robot_ec_source" # only with the Pi's optional echo-cancel config
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pulse.latency = 200
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reconnect.interval.ms = 5000
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stream.props = {
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node.name = "robot_mic"
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node.description = "Robot microphone"
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}
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}
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}
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]
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