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2020.01.15 System Update

Greetings, Misty developers!

This week’s system update includes new commands and event types for locating the robot’s docking station. It also gives your robot the ability to broadcast a soft access point, which makes it easier to use Misty in places where she can’t connect to a local Wi-Fi network. Be sure to check out the full list of new features, fixes, and improvements below.

Thanks, as always, for being one of Misty’s first developers. Your feedback shapes the future of robotics development platforms, and we can’t wait to hear what you think!

Installing the Update

Misty receives software upgrades as over-the-air (OTA) system updates. This update will be available within the next 24-48 hours (the precise timing varies by region).

Misty automatically checks for new updates each time she boots up. As long as her battery has enough charge, she automatically installs any updates that are available. If your robot doesn’t start to install this update the next time she boots up:

  • Check that Misty is connected to power or sitting on her wireless charging station.
  • Try connecting Misty to the Command Center to make sure she’s still on your Wi-Fi network.

If Misty is charging and connected to the internet, you can check whether an update is available in your region by connecting Misty to the Command Center and looking at the System Updates section.

Note: Misty reboots once during a system update. During an update, Misty ignores all commands except Halt and Stop. If Misty starts installing an update while charging, do not remove the power source until the update is finished and Misty’s 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 support@mistyrobotics.com.

Release Contents

  • Misty II - Updates
    • Window IoT Core OS version: 10.0.17134 or higher - No updates
    • Android OS: (8.1) - No updates
    • Robot Version: 1.10.1.10188
    • MC Version: 1.10.1.204
    • RT Version: 1.10.1.204
    • Sensory Services App Version: 1.10.1
  • Web-based Tools: Major changes listed
  • Documentation
    • Documentation for listed features will be available within 24 - 48 hours of this update.
  • Misty JavaScript Extension for VSC - Updates (1.03)
    • Major changes listed
  • Misty App - No updates

New Features

  • Locate the position and orientation (pose) of Misty’s docking station. This is another step in the direction of full autonomy. When close to the docking station – and facing in its general direction – Misty can use the infrared (IR) cameras in her depth sensor to locate the docking station’s IR reflectors. She uses this information to compute the pose for the point on the charger where she should sit to receive the best charge, and returns the coordinates of this point (relative to the IR camera) in the form of a column major homogeneous coordinate matrix. You can use this data to calculate the drive commands Misty should execute to navigate onto her charger. This feature is available in Misty’s REST API, JavaScript SDK, and .NET SDK.
    • Use the StartLocatingDockingStation and StopLocatingDockingStation commands to toggle Misty’s docker detection capabilities.
    • Register a listener for ChargerPoseMessage events to get the homogeneous coordinate matrix representing the docking station’s pose. You can then use dead reckoning to calculate drive commands and navigate the robot onto the charger.
  • Use Misty II as a soft access point. This means Misty can broadcast her own wireless network, which is useful in environments with no local networks, or networks that she can’t connect to (such as captive networks). These features are available in Misty’s REST API, JavaScript SDK, and .NET SDK.
    • Use the StartWifiHotspot and StopWifiHotspot commands to toggle Misty’s access point broadcast.
    • Connect other devices to Misty’s access point using the network ID and password from the currentProfileName and currentPreSharedKey fields in the GetDeviceInformation command response.
    • Each robot has the same standard IP address - 192.168.43.1 - while broadcasting WiFi. You can use this IP address to connect to Misty and issue API commands from a device connected to the robot’s access point.

Bug Fixes & Improvements

Misty II

General

  • Fixed reversed width and height parameters for StartRecordingVideo command in REST, JavaScript, and .NET SDKs.

JavaScript SDK

  • Added methods for several commands that already exist in Misty’s REST API, including: GetSerialSensorValues, GetBlinkSettings, SetBlinkSettings, SetNotificationSettings, DeleteSlamMap, GetCurrentSlamMap, GetSlamIrExposureAndGain, GetSlamMaps, GetSlamPath, GetSlamStatus, GetSlamVisibleExposureAndGain, RenameSlamMap, SetCurrentSlamMap, SlamServiceEnabled, DisableAudioService, DisableCameraService, DisableSlamService, AudioServiceEnabled, EnableAudioService, EnableCameraService, EnableSlamService, GetSlamNavigationDiagnostics, RemoveBlinkMappings, and RestartRobot.
  • Removed unused callback and skillToCall parameters from CaptureSpeech method

.NET SDK Libraries

  • Potentially Breaking: Renamed the following commands in Misty’s .NET SDK libraries:
    • GetWebSocketDetailsCommand -> GetWebSocketNamesCommand
    • LocomotionTrack -> DriveTrack
    • LocomotionTrackAsync -> DriveTrackAsync
    • LocomotionTrackCommand -> DriveTrackCommand
    • GetCameraData -> GetCameraDetails
    • GetLogLevel -> GetSkillLogLevel
    • GetRobotLevel -> GetLogLevel
  • Potentially Breaking: Updated the MoveArm command to take an Arm enum instead of a string
  • Potentially Breaking: Updated ForgetFaces with new parameter to specify a single face to forget. Default is to forget all faces.
  • Added DriveToLocation, MoveArm, and PerformTargetedSystemUpdate commands
  • Fixed an issue where the CancelRunningSkills command failed to cancel the child skill properly.
  • Fixed known issue with TransitionLED command, and updated SetCurrentSlamMap command to work as expected.

Web-Based Tools

All Tools

  • Updated tools to keep Misty’s IP address in the Connect field when you disconnect from Misty.

Skill Runner

  • The web page now performs a check to update the list of running skills after you cancel a skill.

Command Center

  • Fixed video recording interface to use correct order for chosen width and height when sending StartRecordingVideo command.
  • Added missing event types to WebSocket dropdown in Advanced Options section.
  • Using the Advanced Options to unregister events without entering an event name or disconnecting from the robot now unsubscribes all event listeners.

Misty JavaScript Extension for VSC

  • Updated autocomplete functionality and arguments for misty.SetLogLevel() and misty.TransitionLED() commands.

Known Issues

New known issues are listed below. For a comprehensive list of the issues we’re tracking, see the Known Issues section of the Community forums.

  • In the current software, while connected to her WiFi hotspot, Misty’s IP address does not report in the GetDeviceInformation response data.
  • Currently, when Misty stops broadcasting her WiFi hotspot, you must reboot the 820 processor in order to reconnect to WiFi or start the WiFi hotspot again. You can do this by toggling Misty’s power switch, or by running a JavaScript or C# skill that calls on RestartRobot command with a SensoryServices value of true (i.e. misty.RestartRobot(false, true);).

Awesome!

Has anyone done this yet?

This is EXCELLENT news! Getting this is significant!

  • On board text-to-speech is very helpful.
  • The finding the docking station is a great start, but it sounds like it needs to be close, and basically turn until it sees it. (It would be nice if it could get its ‘last known location’ locked in.) GPS coordinate so you know which room, map but misty could get picked up and moved. These so it knows where to start looking or could ‘ask’, “Hey I need power, do you know where you put my docking station??”
  • Wifi access point. Perhaps this a nearly non-issue. But just incase it comes up. You may want to make the IP range configurable via bluetooth interface. The non-registered address space is used by MANY people and companies. 10...* and the 192.168.. (and most home routers I think default with 192.168.0.*). Since misty is then non-connected Misty should not be a issue or a phone/tablet with one IP interface. The only issue would be with computers where I have ethernet and wireless and my ethernet could be on a given IP range or with a mask.

More on board text to speech:
The other needed is the speech-to-text (more broad vocal commands).

  • Using the python works going to Google.

But it limits are:

  • privacy for some that are concerned with such things :slight_smile: (I have accepted nothing is truly private).
  • Autonomy allows voice commands/speech-to-text without a Internet connection.

The speed of response on the person falling in the video was a bit slow (not sure if that was in recognition or on the speech-to-text side or if that was internet based). But it was VERY good to see progress in this area.

Kudos

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Yes, we’re doing this internally. We will keep releasing functionality along the path of fully autonomous charging as we progress.

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