File size: 1,401 Bytes
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module:
name: hermes
version: "0.1.0"
display_name: "HERMES — Foundation Model Navigation with Behavior Trees"
description: "Foundation model integration with ROS2 behavior trees for semantic-aware robot navigation"
category: navigation.path_planning
license: Apache-2.0
paper: "Foundation Models + Behavior Trees for ROS2 Navigation"
capabilities:
provides:
- type: navigation
subtype: semantic_aware
- type: behavior_planning
subtype: foundation_model_guided
interface:
inputs:
- name: rgb_image
ros2_type: sensor_msgs/msg/Image
- name: goal
ros2_type: geometry_msgs/msg/PoseStamped
outputs:
- name: cmd_vel
ros2_type: geometry_msgs/msg/Twist
- name: nav_status
ros2_type: std_msgs/msg/String
hardware:
platforms:
- name: linux_x86
backends: [onnxruntime_cuda, onnxruntime_cpu]
- name: nvidia_jetson
backends: [tensorrt, onnxruntime_cuda]
performance:
profiles:
- platform: linux_x86
model: hermes-base
backend: onnxruntime_cuda
fps: 10
latency_p50_ms: 80
safety:
failure_mode: safe_stop
timeout_ms: 1000
health_topic: /anima/hermes/health
composability:
pairs_well_with:
- perception.slam
- perception.scene_understanding
conflicts_with: []
container:
image: ghcr.io/robotflow-labs/anima-hermes:0.1.0
port: 8093
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