kyleandClaude Sonnet 5.5
880bdd3f44
ROS never leaves the robot, by the owner's decision: the firewall drops domain 42's DDS ports on every interface but loopback (usb0 included), discovery is pinned to LOCALHOST, and hermes_mcp is the only bridge to the outside. PipeWire 1.0.5 runs as hermes's user services with its network server on TCP 4713; the firewall, loaded at boot before it, is the protection. Verified from talos: 4713 connects over usb0 and times out over Wi-Fi. CONTEXT.md brought up to date: the face service, gaze, recognition, the firewall, and what is left. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
17 lines
1.2 KiB
Bash
17 lines
1.2 KiB
Bash
# Source this before running robot nodes on the Pi: source ~/robot-env.sh
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# - ROS Jazzy, then the overlay workspaces (camera_ros built against the fork; hermes_* packages)
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# - the Raspberry Pi libcamera fork ahead of ROS's own copy (same soname, but ROS's crashes in the
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# Pi image plugin: see CONTEXT.md)
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# - ~/venv's site-packages first: Blinka/Adafruit for the display, OpenCV 4.10 for YuNet
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# - a fixed ROS domain (42), discovery on this machine only. ROS never leaves the robot: DDS has
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# no authentication and carries the camera and recognised names, so the firewall drops its ports
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# on every interface but loopback. hermes_mcp is the only bridge to the outside world.
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source /opt/ros/jazzy/setup.bash
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[ -f "$HOME/camera_ws/install/setup.bash" ] && source "$HOME/camera_ws/install/setup.bash"
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[ -f "$HOME/ros_ws/install/setup.bash" ] && source "$HOME/ros_ws/install/setup.bash"
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export LD_LIBRARY_PATH="/opt/libcamera-rpi/lib/aarch64-linux-gnu:${LD_LIBRARY_PATH:-}"
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export PYTHONPATH="$HOME/venv/lib/python3.12/site-packages:${PYTHONPATH:-}"
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export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-42}"
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# ROS's own setup script exports SUBNET, so this must be assigned, not defaulted
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export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
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