There’s been an update to Misty’s OS and the C# SDK, after applying the update…
I was able to generate a SLAM map of part of my basement area (area was very well lit). This was generated using the website SDK for navigation. Still on the website I located a few x/y coordinates and had Misty navigate to these positions. Picking Misty up and manually moving from point to point I was able to see her location on the map and each time she either maintained pose or was able to obtain pose.
Now in C# Code, I took the plot points and tried to have Misty travel to one of them… it turned out that the x/y coordinates were offset by 30 for both x & y. (where on the map it showed 150/200, I had to put in 120/170). While Misty was still connected to the website SLAM map I had generated earlier, I plotted a path for Misty to follow… and everything seemed to work great.
Turning Misty off and then back on and having disconnected Misty from the navigation portal, Misty was not able to obtain pose no matter how long I waited between the Start-Tracking call and the Follow-Path Call.
Here’s what I had to do to get Misty to navigate a preset course after a disconnect/reboot
- I still needed to bring up the SLAM map on the navigation portal and have her obtain pose… not a straight forward task
– a) you need to locate the map from the dropdown list-box, which is an issue because the map names do not display - trial and error I picked the first one assuming they were listed in descending date order (newest first)
– b) Then you hit the Select button… nothing will happen, or nothing appears to happen
– c) Next you’d think you’d want to Get the Map by pressing the Get Map button… and maybe you have to do this step now and then again
– d) Next you need to Start Tracking
– e) Then Get the Map again and then presto, the map appears and Misty [has pose]
Now that the map has loaded in the navigation portal, I clicked on the red dot where Misty was (which was her starting point when I generated the SLAM map) and now the way-points have all changed, they are offset by the 30 points I had to adjust in the code base.
I placed Misty in the center of the map area and ran the C# Code to have Misty travel to several way-points and then to her starting location. Worked like a charm.
Note: I noticed that when Misty’s battery level was below 40% she would only travel part way through the set of way-points.
– Definitely better, but still needs work…
– The Navigation portal needs to have the dropdown list-box fixed
– A code example of how to get Misty to obtain pose without being connect to the navigation portal, would be helpfully