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kyleandClaude Sonnet 5.5 9952c92bc5 Clean out the Pi Zero leftovers, rewrite the README, and add the one installer

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Delete what the ROS design superseded: the Picamera2 MCP server and its unit, the old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

2026-10-05 00:49:21 -07:00

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Hermes robot

Desk robot giving Hermes Agent (on a NixOS or Omarchy host) a camera, microphones, speakers, a pan/tilt head and an oscilloscope-style face. Hardware: Raspberry Pi 4, Adafruit BrainCraft HAT, Arducam UC-346 (OV5647), two MG90S servos on GPIO12/13. Software: ROS 2 Jazzy on Ubuntu 24.04 on the Pi; on the hosts, ROS runs only in podman containers.

Start with HANDOFF.md. It is the implementation brief: hardware facts, what exists, the work packages in order, acceptance checks, and the list of unverified assumptions.

pi/ and ros/ run on the robot; host/ runs on the owner's machines. CONTEXT.md tracks where the work stands; HANDOFF.md is the original brief and has drifted (ROS stays on the Pi, and hermes_mcp is the only bridge out; see CONTEXT.md).
Package 0a (platform proof) comes before everything; start with host/check-pi-platform.sh.
docs/face-prototype.html is the reference for the face renderer; port it, don't ship it.
enclosure/ holds the OpenSCAD model and STLs. It was built from estimates; refine it from the owner's caliper measurements and test prints before anyone prints the large parts.
README.md is the guide for this build; keep it a guide for a person, and keep CONTEXT.md honest.
The MCP server uses the MCP Python SDK 2.x (mcp.server.mcpserver.MCPServer), not 1.x FastMCP.
Ask before rebooting the Pi, upgrading or holding kernel packages, or opening network ports.

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Hermes robot

1.4 KiB

Raw Blame History