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
909 B
Desktop File
23 lines
909 B
Desktop File
[Unit]
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Description=Robot (hermes_bringup): face, camera, face detection, audio levels, MCP bridge
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# Nothing here needs the user session: audio_state retries until the user's PipeWire is up.
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After=local-fs.target robot-cpu-performance.service robot-firewall.service
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[Service]
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User=hermes
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# lgpio (the display's GPIO backend) drops a notification pipe in its working directory, which must
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# be writable: systemd's default, /, is not.
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RuntimeDirectory=robot
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WorkingDirectory=/run/robot
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# hermes_mcp reads its bearer token from here (root:hermes, mode 640); it is never in a parameter
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EnvironmentFile=-/etc/robot-mcp.env
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# audio_state reaches the user's PipeWire through this
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Environment=XDG_RUNTIME_DIR=/run/user/1000
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ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 launch hermes_bringup robot.launch.py'
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Restart=always
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RestartSec=3
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TimeoutStopSec=20
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[Install]
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WantedBy=multi-user.target
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