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
kyleandClaude Sonnet 5.5
8d5033d0a2