kyleandClaude Sonnet 5.5
d8db0a48f5
hermes_bringup starts the face, camera, face detector and audio levels from one launch file with their parameters in robot.yaml, each node its own respawned process, the face first and the others after start_delay. robot.service runs it at boot, so everything is ROS and the face is up whenever the robot is powered. Reboot-tested: all services and nodes return by themselves, the face draws at about 28 s on the boot clock, the mic gain survives, nothing throttles. Cut the CPU: the camera runs at 15 fps (20% of a core, vs 40% at 30), and the detector went from 131% to 40% by pinning OpenCV to one thread (its DNN burns 3-4x its elapsed time across cores), decoding the JPEG at half size, and re-identifying a tracked face at most once a second. The audio scope is published only while someone is speaking or listening. A standalone face unit that skipped `ros2 launch` saved only 3.7 s and was dropped: the owner prefers everything in ROS and is fine with up to a minute. trim-boot.sh disables the unused snapd and ModemManager. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
16 lines
802 B
Bash
Executable File
16 lines
802 B
Bash
Executable File
#!/bin/bash
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# One unit runs the whole robot (face, camera, vision, audio) via the hermes_bringup launch file, so
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# the face is up whenever the robot is powered, and everything is ROS. Each node is its own process
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# and is respawned by the launch file, so one crash cannot take the others down.
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# Replaces the earlier standalone robot-face.service. Run as root from this directory. Re-runnable.
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set -euo pipefail
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cd "$(dirname "$0")"
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install -m 644 robot-cpu-performance.service robot.service /etc/systemd/system/
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systemctl disable --now robot-face.service 2>/dev/null || true
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rm -f /etc/systemd/system/robot-face.service
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systemctl daemon-reload
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systemctl enable --now robot-cpu-performance.service
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systemctl enable robot.service
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systemctl restart robot.service
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echo "robot.service enabled and started"
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