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 Delete what the ROS design superseded: the Picamera2 MCP server and its unit, the old installer and requirements, and the duplicate platform check.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
21 lines
1.4 KiB
Markdown
21 lines
1.4 KiB
Markdown
# 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.
|