kyleandClaude Sonnet 5.5
f8525c5526
hermes_face now subscribes to /vision/faces and glances toward the best face (a recognised one first, then the biggest), smoothed, holding 2.5 s and drifting back to centre when none is seen. Sleeping ignores gaze. Image x flips on the display: the camera looks the way the robot faces, so a person on the image's right is on the robot's right, the viewer's left. Fix the pan sign carried over from the prototype: positive pan is the robot's left (the MCP contract), which is the viewer's right on the display. robot-face.service starts the face at boot and restarts it on failure, with a private working directory because lgpio drops a notification pipe in its cwd and systemd's default / is not writable. robot-cpu-performance.service holds the CPU at full clock, which halves the face's CPU cost. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
17 lines
559 B
Desktop File
17 lines
559 B
Desktop File
[Unit]
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Description=Robot face (hermes_face): the display is always on while the robot is powered
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After=local-fs.target robot-cpu-performance.service
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[Service]
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User=hermes
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# lgpio (the GPIO backend for the display) drops a notification pipe, .lgd-nfy*, in its working
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# directory, which must be writable: systemd's default, /, is not.
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RuntimeDirectory=robot-face
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WorkingDirectory=/run/robot-face
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ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 run hermes_face face_node'
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Restart=always
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RestartSec=2
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[Install]
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WantedBy=multi-user.target
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