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
25 lines
1.2 KiB
YAML
25 lines
1.2 KiB
YAML
# Merge these into ~/.hermes/config.yaml on Omarchy.
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# The robot is at 10.55.0.2 on the USB link (the host is 10.55.0.1; see host/omarchy/robot-usb-link.sh).
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# Put the token in ~/.hermes/.env as: ROBOT_MCP_TOKEN=<64 hex characters>
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# It lives only on the Pi, in /etc/robot-mcp.env (read it with: ssh hermes@10.55.0.2 sudo cat /etc/robot-mcp.env).
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# The robot's firewall accepts this port only over the USB link, from 10.55.0.1.
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# While Hermes holds a connection the robot's face is awake; when it stops, the face falls asleep after
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# about 40 seconds. A robot with no head fitted offers only look(); turn_head appears when servos do.
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mcp_servers:
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robot:
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url: "http://10.55.0.2:8765/mcp"
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headers:
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Authorization: "Bearer ${ROBOT_MCP_TOKEN}"
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connect_timeout: 15
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timeout: 30 # look() normally answers in about a second
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voice:
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auto_tts: true # speak replies whenever voice mode is on
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# The robot's mic sits beside its own speaker. If Hermes interrupts itself,
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# raise this (default 3.0) or enable the Pi's optional echo-cancel config.
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barge_in_threshold_multiplier: 4.0
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# If the level bar barely moves when you speak, lower this (default 200)
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# or raise the mic volume on the Pi (see README).
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silence_threshold: 200
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