kyleandClaude Sonnet 5.5
9952c92bc5
Wi-Fi-off acceptance passed: with Wi-Fi blocked, live and after a reboot, the Pi came up on the USB link alone, every node ran, and hermes mcp test robot and look() worked. (A temporary guard that would have unblocked Wi-Fi was the safety net and is removed; Wi-Fi is back on.) Delete what the ROS design superseded: the Picamera2 MCP server and its unit, the old installer and requirements, and the duplicate platform check. Move omarchy/ to host/omarchy/. Rewrite README.md for this build: parts, physical steps (including the Audio switch), setup, daily use, the troubleshooting learned the hard way, and the security model. pi/install.sh is now the single installer for a fresh Ubuntu 24.04 image, built from the steps done by hand: ROS, the libcamera fork at a pinned commit, camera_ros, the venv and models, the workspace, USB gadget, audio overlay, firewall (before PipeWire opens a port), PipeWire, mixer and services. Run twice on the live robot, the second run changed nothing and everything stayed healthy. It has not been run on a blank card. 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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