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Erratic ToF sensors

Thanks, @milsonian for reporting this. Could you also turn off your hazard systems and see whether this resolves the driving issues? I’ve posted instructions above on how to do this but I’m also happy to jump on a phone call with you to walk through how to do this.

Thank you so much. I’ll start on this first thing tomorrow morning and report back.

I should have some time to try it tomorrow, thanks for the quick reply! Btw do you publish a swagger or openapi spec (or a native collection) I could import to postman? Not a big deal now for this one endpoint, but might be handy.

We don’t have one right now, but this is a really good idea.

Ok, I sent the stuff on postman as instructed. Below the code after I hit the send button it says { "result": false, "status": "Success" }
It will still only drive in reverse. When I first turned the robot on it did drive forward about a foot then stopped. I tried sending the postman a few times with no change. I checked the console, sometimes when subscribing to ToF they seem to display accurate values, sometimes the all read 0 and sometimes they say something about a web socket closed or in a closing state. Regardless what the console says, the robot still only goes in reverse consistently.

I’d like to do a test. Is there anyway I can put a previous version of software back into Misty? My thinking is, it drove fine out of the box yesterday on the iPhone app. It only had the problems when I connected it to the command center and it automatically updated to a new version.

@Woo I updated base hazard settings with this response:

{
    "result": true,
    "status": "Success"
}

It drove just fine in any direction. I then rebooted and as documented, hazard settings reverted, and the problem returned - drives backwards but not forward.

Log excerpt showing most of that (there is a ton of ToF messages just showing a few):

2019-10-03T14:49:33.2696621-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:33.9224313-07:00|INF|20193802899|3|PruDriver|Reading battery charge time setting. 
2019-10-03T14:49:33.9381659-07:00|INF|20193802899|3|PruDriver|Battery charge time retrieved: 0 minutes. 
2019-10-03T14:49:34.9654731-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:35.7977514-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:37.4199881-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:39.0172961-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:39.3012929-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:40.2654491-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:40.4702626-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:41.8553308-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front right edge = False 
2019-10-03T14:49:41.8869913-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front right edge = True 
2019-10-03T14:49:42.8150335-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:43.3966145-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:43.9934254-07:00|INF|20193802899|3|PruDriver|Reading battery charge time setting. 
2019-10-03T14:49:43.9934254-07:00|INF|20193802899|11|PruDriver|Battery charge time retrieved: 0 minutes. 
2019-10-03T14:49:44.1989665-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:45.4552438-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:49:54.0425514-07:00|INF|20193802899|3|PruDriver|Reading battery charge time setting. 
2019-10-03T14:49:54.0425514-07:00|INF|20193802899|3|PruDriver|Battery charge time retrieved: 0 minutes. 
2019-10-03T14:49:58.7752384-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = False 
2019-10-03T14:49:58.8536467-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front left edge = True 
2019-10-03T14:50:04.0848507-07:00|INF|20193802899|11|PruDriver|Reading battery charge time setting. 
2019-10-03T14:50:04.1005441-07:00|INF|20193802899|11|PruDriver|Battery charge time retrieved: 0 minutes. 
2019-10-03T14:50:11.5825837-07:00|INF|20193802899|11|CommandRequestHandler|REST_API IN Command: /api/hazard/updatebasesettings SourceId: a5d74bda-0a61-4bf0-aeb9-a6c00fd2ad7f ArgumentData: {"$id":"1","bumpSensorsEnabled":[{"$id":"2","sensorName":"Bump_FrontRight","enabled":false},{"$id":"3","sensorName":"Bump_FrontLeft","enabled":false},{"$id":"4","sensorName":"Bump_RearRight","enabled":false},{"$id":"5","sensorName":"Bump_RearLeft","enabled":false}],"timeOfFlightThresholds":[{"$id":"6","sensorName":"TOF_DownFrontRight","threshold":0},{"$id":"7","sensorName":"TOF_DownFrontLeft","threshold":0},{"$id":"8","sensorName":"TOF_DownBackRight","threshold":0},{"$id":"9","sensorName":"TOF_DownBackLeft","threshold":0},{"$id":"10","sensorName":"TOF_Right","threshold":0},{"$id":"11","sensorName":"TOF_Left","threshold":0},{"$id":"12","sensorName":"TOF_Center","threshold":0},{"$id":"13","sensorName":"TOF_Back","threshold":0}]} 
2019-10-03T14:50:11.5982005-07:00|INF|20193802899|11|CommandRequestHandler|{"$id":"1","api":"REST_API","direction":"IN","command":"/api/hazard/updatebasesettings","sourceId":"a5d74bda-0a61-4bf0-aeb9-a6c00fd2ad7f","argumentData":{"$id":"2","bumpSensorsEnabled":[{"$id":"3","sensorName":"Bump_FrontRight","enabled":false},{"$id":"4","sensorName":"Bump_FrontLeft","enabled":false},{"$id":"5","sensorName":"Bump_RearRight","enabled":false},{"$id":"6","sensorName":"Bump_RearLeft","enabled":false}],"timeOfFlightThresholds":[{"$id":"7","sensorName":"TOF_DownFrontRight","threshold":0},{"$id":"8","sensorName":"TOF_DownFrontLeft","threshold":0},{"$id":"9","sensorName":"TOF_DownBackRight","threshold":0},{"$id":"10","sensorName":"TOF_DownBackLeft","threshold":0},{"$id":"11","sensorName":"TOF_Right","threshold":0},{"$id":"12","sensorName":"TOF_Left","threshold":0},{"$id":"13","sensorName":"TOF_Center","threshold":0},{"$id":"14","sensorName":"TOF_Back","threshold":0}]} 
2019-10-03T14:50:11.5982005-07:00|INF|20193802899|11|HardwareControllerMcp2517|Send new hazard settings: 
BFR=False  BFL=False  BRR=False  BRL=False  
EFR=0  EFL=0  ERR=0  ERL=0  
OFR=0  OFC=0  OFL=0  ORC=0 
2019-10-03T14:50:11.6294405-07:00|INF|20193802899|11|CommandRequestHandler|REST_API OUT Command: UpdateBaseHazardManagementSettings SourceId: a5d74bda-0a61-4bf0-aeb9-a6c00fd2ad7f Status: Success ResponseData: {"$id":"1","api":"REST_API","direction":"OUT","command":"UpdateBaseHazardManagementSettings","sourceId":"a5d74bda-0a61-4bf0-aeb9-a6c00fd2ad7f","status":"Success","responseData":{"$id":"2","result":true,"status":"Success"}} 
2019-10-03T14:50:11.6294405-07:00|INF|20193802899|11|CommandRequestHandler|{"$id":"1","api":"REST_API","direction":"OUT","command":"UpdateBaseHazardManagementSettings","sourceId":"a5d74bda-0a61-4bf0-aeb9-a6c00fd2ad7f","status":"Success","responseData":{"$id":"2","result":true,"status":"Success"}} 
2019-10-03T14:50:11.6450669-07:00|DBG|20193802899|7|HazardNotificationMessage|Hazard message: 
Hazard: ToF front right edge = False
Hazard: ToF front left edge = False 

I also ran and downloaded a diagnostic after all of this, if that’d be useful.

Another quick note for what it’s worth, I had this behavior out of the box both before and after the updates ran.

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Another update, I removed the front left/front right guards and cleaned all the ToF sensors, which did have some residue - however, no change in behavior.

@ScottC the above response means it did NOT succeed in turning off the hazards, so it’s still not driving forward because the front ToFs are telling there is something there.

You want to see a "result": true

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Yes. I should have updated this. I spoke with Woo on the phone last night to try and troubleshoot what’s going on. After several attempts we couldn’t get it to read true. However, giving it other skills would read true. To make things more odd, when I connected the robot to the companion app it drove fine again. Then I connected it back to the computer with the command center and it drove fine, however the rear ToF sensor was stuck on 0. Even with the rear sensor stuck on 0 it would still drive in reverse and when it got near the wall it would stop appropriately . Woo said he had never seen anything like that and would confer with the team today.
Thank you to all the Misty Community and Misty Team for your support!

Hi @engagementteam - any thoughts or further actions @ScottC or I could take here? Thanks!

A group of us will be digging into the robot with similar symptoms tomorrow morning, so hopefully we’ll gain some insight into how to fix it then. We’ll definitely update here when we have more.

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We’re working on a few things at the moment that should help out! We’ll have an update for everyone soon :robot:

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All right, something to try!

  • This sounds odd, but try turning off your LED through the command center.
  • Send the ‘updateBaseSettings’ command

    POST 10.0.10.103/api/hazard/updatebasesettings
{
    "bumpSensorsEnabled":[
        {"sensorName":"Bump_FrontRight","enabled":true},
        {"sensorName":"Bump_FrontLeft","enabled":true},
        {"sensorName":"Bump_RearRight","enabled":true},
        {"sensorName":"Bump_RearLeft","enabled":true}
    ],
    "timeOfFlightThresholds":[
        {"sensorName":"TOF_DownFrontRight","threshold":0.06},
        {"sensorName":"TOF_DownFrontLeft","threshold":0.06},
        {"sensorName":"TOF_DownBackRight","threshold":0.06},
        {"sensorName":"TOF_DownBackLeft","threshold":0.06},
        {"sensorName":"TOF_Right","threshold":0.15},
        {"sensorName":"TOF_Left","threshold":0.15},
        {"sensorName":"TOF_Center","threshold":0.15},
        {"sensorName":"TOF_Back","threshold":0.15}
    ]
} 

NOTE: The content type MUST be application/json.

  • Now try driving through the command center. Misty should stop just in front of obstacles or if the robot is lifted off the ground (Misty will not move the tracks if it is on the stand)
  • If at any point the LED turns purple, please let us know! This indicates our realtime controller has reset and we need to test a few more things :slight_smile:

PS: If you’d prefer to use cURL, give this a shot:

curl -X POST \
  http://IPADDRESS_HERE/api/hazard/updatebasesettings \
  -H 'Content-Type: application/json' \
  -H 'cache-control: no-cache' \
  -d '{
    "bumpSensorsEnabled":[
        {"sensorName":"Bump_FrontRight","enabled":true},
        {"sensorName":"Bump_FrontLeft","enabled":true},
        {"sensorName":"Bump_RearRight","enabled":true},
        {"sensorName":"Bump_RearLeft","enabled":true}
    ],
    "timeOfFlightThresholds":[
        {"sensorName":"TOF_DownFrontRight","threshold":0.06},
        {"sensorName":"TOF_DownFrontLeft","threshold":0.06},
        {"sensorName":"TOF_DownBackRight","threshold":0.06},
        {"sensorName":"TOF_DownBackLeft","threshold":0.06},
        {"sensorName":"TOF_Right","threshold":0.15},
        {"sensorName":"TOF_Left","threshold":0.15},
        {"sensorName":"TOF_Center","threshold":0.15},
        {"sensorName":"TOF_Back","threshold":0.15}
    ]
}'

I tried to do this today along with some other requests from the Misty team regarding ping times. Misty won’t connect to my computer anymore. Her screen read “invalid image” for a while, then she did some updates and restarted and still won’t connect. I tried several times turning her off, turning her on, quitting and restarting Google Chrome. No luck. Last time I tried updating hazard settings, she wouldn’t accept the commands anyways.

Scott, are you able to ping your robot? Are you able to connect with the companion app? Is it showing the same IPAddress? Is your computer on the same network as the robot? Have you tried connecting with an ethernet cord and dongle?

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Hi Scott, I just sent you a message to walk through these issues one by one, most of which @econnolly outlined already but there are some things that can be helpful with a bit of context :slight_smile:

OK, thanks I gave this a shot, here’s my results:

  1. Started up Misty. Got the latest update, that all went fine and she rebooted.
  2. Verified previous behavior (driives backwards, not forwards).
  3. Disabled LED (I did this by settiing 0,0,0, presuming that was what you meant).
  4. Applied the new base settings (bumpSensors enabled, TOF thresholds 0.06 and 0.15)
    • Returned { "result": true, "status": "Success" }
    • Same issue - drove backward, not forward
  5. Applied previous base settings (bump sensors disabled, TOF thresholds 0)
    • Returned { "result": true, "status": "Success" }
    • She drove just fine in all directions, as before
  6. Rebooted, base settings reverted, back to original behavior as expected.

I tried running through that an additional time, changing to higher thresholds of 0.10 and 0.30 repectively, this didn’t make any difference.

I have a log of this full session, which looks a lot like the logs from before… let me know if you want that uploaded and/or what to try next.

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Thanks @milsonian! I think we’re zeroing in on what’s been causing these issues. Would you be able to send your logs over to help@mistyrobotics.com?

Logs sent - attempted what you sent in PM as well.