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
41 lines
1.5 KiB
YAML
41 lines
1.5 KiB
YAML
# Parameters for the robot's nodes, keyed by node name. The MCP token and other secrets do not
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# belong here: they stay in an env file readable only by the service user.
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camera:
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ros__parameters:
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width: 1296 # the OV5647's full-field binned mode: whole field of view
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height: 972
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format: RGB888
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FrameDurationLimits: [66666, 66666] # 15 fps: ~20% of a core, vs ~40% at 30; plenty for 4 Hz faces
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jpeg_quality: 80
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hermes_face:
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ros__parameters:
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rotation: 270 # mounted pose, microSD end up (the panel is portrait)
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x_offset: 0
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y_offset: 80 # the 240x240 glass sits 80 rows into the controller's RAM
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fps: 30.0
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phosphor: P7
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style: phosphor
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initial_state: sleeping # no agent connected until hermes_mcp's heartbeat says so
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agent_timeout_s: 10.0
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gaze_follow: true
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audio_drive: true
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hermes_face_detector:
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ros__parameters:
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rate_hz: 4.0
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recognize: true # only recognises people enrolled with hermes_vision.people
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publish_debug: false
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hermes_audio_state:
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ros__parameters:
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rate_hz: 30.0
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hermes_mcp:
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ros__parameters:
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bind: 10.55.0.2 # the USB link; the firewall accepts 8765 only from 10.55.0.1 on usb0
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port: 8765
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head: false # no servos fitted yet: turn_head and head_position stay unregistered
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connected_grace_s: 30.0 # an authenticated client heard within this long keeps the heartbeat going
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look_timeout_s: 3.0
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