Greetings, Misty developers!
As a quick follow-on to Misty’s 9.10.2019 release, we’re pleased to announce an update that brings various improvements to Misty’s simultaneous localization and mapping (SLAM) system. These updates increase the stability of map creation and enhance the reliability of relocalization within an existing map. They also open access to a handful of new REST endpoints for adjusting depth sensor settings and managing Misty’s existing maps.
Note: Misty’s SLAM capabilities are still an alpha feature. Experiment with mapping, but recognize that Misty’s ability to create maps and track within them is unreliable at this time. Misty’s SLAM performance will continue to improve with regular updates in the weeks to come.
Thanks, as always, for being one of the earliest developers for Misty II. Your feedback shapes the platform and the future of personal robots, and we can’t wait to hear what you think!
Installing the Update
Misty’s software updates are delivered as over-the-air (“OTA”) updates, and Misty checks for updates each time she boots up. This release will be available to your Misty II within the next 24-48 hours (the precise timing varies by region). If Misty doesn’t automatically download the update the next time she boots up, you can check to see if the update is available via Misty’s Command Center.
Misty reboots once during a system update. All commands except
Stop are disabled while Misty is updating. If Misty starts installing an update while she’s charging, do not disconnect her from her power source until the update is finished and her eyes are fully open.
If you have issues with a system update 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.
- Contact the Misty support team through the chat embedded in this site, or by emailing email@example.com.
Note: This system update is only available for Misty II robots. Misty I robots will not be updated with this release. If you are a field trial developer with a Misty II prototype, you can find the firmware and software version numbers for your robot in the Field Trial section of the Community Forums.
Misty II - Updates
- Window IoT Core OS version: 10.0.17134 or higher - No updates
- Android OS: (8.1) - No updates
- Robot Version: 126.96.36.199
- MC Version: 188.8.131.52
- RT Version: 184.108.40.206
- Sensory Services App Version: 1.2.3
- Major changes listed
- No major changes
- Misty can now create and save multiple maps. This means you can now create more than one map of an area, review each map for accuracy, and set the best map as Misty’s currently active map. The new commands for using this functionality are:
GetSlamMaps: Retrieves a list of keys and names for each available map.
GetCurrentSlamMap: Retrieves retrieve the key for the currently active map.
SetCurrentSlamMap: Changes which map is currently active.
RenameSlamMap: Renames an existing map.
DeleteSlamMap: Deletes an existing map.
- You can now adjust the gain and exposure for the fisheye and infrared cameras in Misty’s depth sensor. Note: The endpoints for customizing depth sensor settings are still in development, and the values/ranges they expect is likely to change. For the time being, we recommend changing these settings with the help of Misty’s support staff.
SetSlamIrExposureAndGainto obtain and customize the exposure and gain settings for Misty’s infrared cameras.
SetSlamVisibleExposureAndGainto obtain and customize the exposure and gain for Misty’s fisheye camera.
- Misty can now return diagnostic information about her SLAM system via the
GetSlamNavigationDiagnosticscommand, for your own exploration and for root-causing SLAM issues with Misty’s support staff.
Bug Fixes & Improvements
Simultaneous Localization and Mapping (SLAM)
- Various improvements to increase the stability of map creation and enhance Misty’s ability to relocalize and track within existing maps.
- Various new commands for managing multiple maps, adjusting depth sensor settings, and getting a diagnostic report from Misty’s SLAM system.
- When the SLAM system runs out of memory, it now shuts down gracefully and saves the map Misty is in the process of creating, rather than crashing and losing the map altogether.
- Various fixes and improvements to the Command Center user interface, including:
- Changed default volume on page load to 70%.
- Set default color in chest LED color picker to purple (Misty’s favorite).
- Added ability to adjust head/arm movement sliders by scrolling your mouse wheel.
- Uploading an image/audio asset now places the newly added asset at the top of the list.
- Upgraded all tooltips to improve readability/styling.
- Added robot diagnostics information to the
- Fixed broken sample code for the
GetHelpcommand in the API Explorer user interface.
- Fixed a bug with using the file picker to load skills onto Misty via the Skill Runner interface.
New Known Issues
- In the Advanced Options section of the Command Center, double-clicking the Get Diagnostic Report button causes the web page to download
diagnostics.zippackages from your robot on a continuous loop until you close the browser window.
- Attempting to set the exposure or gain for Misty’s fisheye camera without first enabling SLAM streaming results in undefined behavior. In our testing, we’ve seen this reset the depth sensor, thus causing Misty’s SLAM services to restart.
For a comprehensive list of known issues with the Misty platform, see the Known Issues section of the Community forums.