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
47 lines
2.3 KiB
Python
47 lines
2.3 KiB
Python
"""Bring up the robot: camera, face, face detection, audio levels, and the MCP bridge.
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ros2 launch hermes_bringup robot.launch.py [camera:=false] [face:=false] [vision:=false] [audio:=false] [mcp:=false]
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[start_delay:=6.0]
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Every node is its own process and is respawned if it exits, so one crash cannot take the others
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down: the face keeps running when the camera does not. Parameters are in config/robot.yaml.
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The face starts at once; the camera, vision, audio and MCP nodes wait start_delay seconds, so the four
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Python processes do not fight over the CPU while the face imports and draws its first frame.
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, TimerAction
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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# (launch argument, package, executable, node name in robot.yaml)
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NODES = [
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('camera', 'camera_ros', 'camera_node', 'camera'),
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('face', 'hermes_face', 'face_node', 'hermes_face'),
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('vision', 'hermes_vision', 'face_detector', 'hermes_face_detector'),
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('audio', 'hermes_audio', 'audio_state', 'hermes_audio_state'),
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('mcp', 'hermes_mcp', 'mcp_server', 'hermes_mcp'),
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]
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DELAYED = {'camera', 'vision', 'audio', 'mcp'}
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def generate_launch_description():
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params = os.path.join(get_package_share_directory('hermes_bringup'), 'config', 'robot.yaml')
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actions = [DeclareLaunchArgument(arg, default_value='true', description=f'run the {name} node')
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for arg, _, _, name in NODES]
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actions.append(DeclareLaunchArgument('start_delay', default_value='6.0',
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description='seconds the other nodes wait for the face'))
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for arg, package, executable, name in NODES:
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node = Node(package=package, executable=executable, name=name, output='screen',
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parameters=[params], respawn=True, respawn_delay=2.0,
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condition=IfCondition(LaunchConfiguration(arg)))
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actions.append(TimerAction(period=LaunchConfiguration('start_delay'), actions=[node])
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if arg in DELAYED else node)
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return LaunchDescription(actions)
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