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
14 lines
985 B
Bash
14 lines
985 B
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 and subnet-only discovery, matching the host-side podman shell
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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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export ROS_AUTOMATIC_DISCOVERY_RANGE="${ROS_AUTOMATIC_DISCOVERY_RANGE:-SUBNET}"
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