kyleandClaude Sonnet 5.5
8d5033d0a2
hermes_vision wraps OpenCV YuNet (Haar fallback) as a plain module plus a node that publishes /vision/faces as vision_msgs/Detection2DArray. It replaces the standalone detect_faces.py. pi/robot-env.sh puts the Raspberry Pi libcamera fork ahead of ROS's own copy, the venv's OpenCV 4.10 ahead of the apt one, and fixes the ROS domain and subnet-only discovery. camera_ros 0.7.0 now runs against the fork and publishes raw and compressed images. The stock wm8960-soundcard overlay fails on Ubuntu 24.04 with "No MCLK configured": it hangs the clock on the sound card's codec link, but the codec driver reads mclk from its own node. hermes-wm8960.dts adds it there, and capture opens at 8-48 kHz. The microphones still read digital zeros; see CONTEXT.md for what has been ruled out. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
21 lines
647 B
XML
21 lines
647 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>hermes_vision</name>
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<version>0.1.0</version>
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<description>Face detection on the Hermes robot's camera image.</description>
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<maintainer email="noreply@example.com">K. Isom</maintainer>
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<license>UNLICENSED</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>vision_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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