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
23 lines
1.2 KiB
Bash
Executable File
23 lines
1.2 KiB
Bash
Executable File
#!/bin/bash
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# One unit runs the whole robot (face, camera, vision, audio, MCP bridge) via the hermes_bringup launch file, so
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# the face is up whenever the robot is powered, and everything is ROS. Each node is its own process
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# and is respawned by the launch file, so one crash cannot take the others down.
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# Replaces the earlier standalone robot-face.service. Run as root from this directory. Re-runnable.
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set -euo pipefail
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cd "$(dirname "$0")"
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# The MCP bridge's bearer token: created once, readable only by root and the service user, and never
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# printed (read it yourself with `sudo cat /etc/robot-mcp.env` when configuring the host).
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if [ ! -s /etc/robot-mcp.env ]; then
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(umask 077; printf 'ROBOT_MCP_TOKEN=%s\n' "$(openssl rand -hex 32)" > /etc/robot-mcp.env)
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fi
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chown root:hermes /etc/robot-mcp.env
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chmod 640 /etc/robot-mcp.env
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install -m 644 robot-cpu-performance.service robot.service /etc/systemd/system/
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systemctl disable --now robot-face.service 2>/dev/null || true
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rm -f /etc/systemd/system/robot-face.service
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systemctl daemon-reload
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systemctl enable --now robot-cpu-performance.service
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systemctl enable robot.service
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systemctl restart robot.service
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echo "robot.service enabled and started"
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