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anima_module.yaml

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+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