| schema_version: "1.0" | |
| 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 | |