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
35 lines
1.5 KiB
Python
35 lines
1.5 KiB
Python
import os
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import pytest
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import yaml
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pytest.importorskip('launch_ros')
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HERE = os.path.dirname(__file__)
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ROOT = os.path.dirname(HERE)
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def test_launch_description_has_one_respawning_process_per_node():
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import importlib.util
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spec = importlib.util.spec_from_file_location('robot_launch', os.path.join(ROOT, 'launch', 'robot.launch.py'))
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mod = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(mod)
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from launch.actions import TimerAction
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from launch_ros.actions import Node
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ld = mod.generate_launch_description()
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nodes = [e for e in ld.entities if isinstance(e, Node)]
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delayed = [n for t in ld.entities if isinstance(t, TimerAction) for n in t.actions if isinstance(n, Node)]
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assert len(nodes) + len(delayed) == len(mod.NODES) == 4
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assert len(nodes) == 1 and 'face' in mod.NODES[1] and len(delayed) == 3 # the face starts at once
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# respawn lives on a private attribute that differs between ROS releases, so check the source
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src = open(os.path.join(ROOT, 'launch', 'robot.launch.py')).read()
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assert 'respawn=True' in src and 'respawn_delay' in src
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def test_every_node_in_the_launch_file_has_parameters_and_the_face_is_mounted_portrait():
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cfg = yaml.safe_load(open(os.path.join(ROOT, 'config', 'robot.yaml')))
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for name in ('camera', 'hermes_face', 'hermes_face_detector', 'hermes_audio_state'):
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assert 'ros__parameters' in cfg[name], name
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assert cfg['hermes_face']['ros__parameters']['rotation'] == 270
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assert cfg['camera']['ros__parameters']['FrameDurationLimits'] == [66666, 66666]
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