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2018.09.18. Release Notes

Welcome, Misty I Developers!

This release is for Misty I CAN bus robots and MUST be installed either from:

Important: Please keep Misty plugged in for the entire duration of the update and do not attempt to send commands to her during this time.

As always, we look forward to your feedback!

Note: If you have issues with a system upgrade or need technical assistance for other reasons, for the quickest response you can:

  • Post a message to the Support category here in the Community forums.
  • Mention @support with your post.
  • Post a message in MistyCommunity Slack in the technical_support channel.


  • Windows IoT Core OS: No updates - current version is 10.0.17134
  • Android OS: No updates
  • HomeRobot app: version
  • Motor Controller (MC) firmware: version
  • Real Time (RT) Controller firmware: version
  • Occipital Structure Core firmware: No updates - current version is 0.7.7
  • Sensory service app: version
  • Companion app
    • iOS: No updates - current version is 1.1.103
    • Android: No updates - current version is 1.1.0 (94)
  • Tools
  • Skills
    • No updates
  • Documentation (major changes listed)

New Features

  • Pose (position and orientation) information is now included in the SelfState websocket.
  • User interface changes for the API Explorer:
    • New design for sensor websocket controls, and the sensor websocket section can be toggled from hidden to displayed.
    • In the Mapping and Tracking controls, current pose coordinates have been replaced by the current status for Slam, Sensor, and Run Mode.
    • An alternative to the Companion App for connecting to Wi-Fi is now provided.

Bug Fixes & Improvements

  • Fixed delay in connecting the API Explorer to the robot.
  • Removed unneeded file location information from the returned data for the following commands: GetListOfAudioFiles, GetListOfImages, SaveAudioAssetToRobot, SaveImageAssetToRobot.

Known Issues

  • Delay with the GetDeviceInfo command with displaying the correct Sensory Service app. Also, GetDeviceInfo is currently failing to display version information for the Motor Controller firmware and Real Time Controller firmware.
  • When onboarding a robot with the Misty Companion app, even though it says it’s connected, the IP address and battery % may not be displayed initially. Closing the app and repeating the connection process will allow that data to be displayed.
  • Issues with the speed/reliability of data coming from the Occipital Structure Core depth sensor’s USB connection is causing the robot to have issues with successfully obtaining pose.
  • The covering for the time-of-flight sensors can create false positives for close distance detection, which causes the robot to refuse to move. A workaround is to force the robot to detect a further distance by standing in front of it.
  • The battery charger will only charge the robot if it is replugged into the robot after each time that the robot is turned on.
  • Inconsistent behavior with the LocomotionTrack API command when attempting to drive the robot backward.
  • Observed issues with consistently receiving data for websocket subscriptions. Rebooting the robot seems resolves this issue.