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This is a ROS wrapper for the Misty II robot. It uses an expanded version of Misty Robotics's python wrapper to communicate with the Misty via local wireless. It is designed to allow multiple Mistys to be controlled via the same ROS server by specifying topics and nodes by id number (this requires launching misty.launch with appropriate arguments for each Misty).

• ROS melodic
• python >3.8.0
• ffmpeg >4.0.0

cd [your_ROS_workspace]git clone [this package] ./src/misty_wrappercatkin_makesource devel/setup.bashpython3 -m venv isat_venvsource isat_venv/bin/activatepip install -r [location_of_this_package]/requirements.txt

roslaunch misty_wrapper misty.launch robot_ip:=None robot_id:=0 use_av_stream:=true

• /misty_ROS_id_{#} : enables basic commands to be issued to Misty, currently including head (3 DOF) and arm (2 x 1 DOF) motor commands, the included Misty TTS, the image displayed on the face, and the LED color.
• /misty_AV_id_{#} : includes video streaming and face recognition (only launched if arg use_av_stream = true)
• /mistyscan : scans the local network for Mistys to connect to, or allows you to enter a known IP directly (only launched if arg robot_ip is not specified)

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