ROS 2 Wrapper for Misty II

Overview

This is a ROS 2 wrapper for Misty II, enabling control of Misty using ROS 2 topics and services. The node communicates with Misty’s API to send movement commands, retrieve battery status, and perform actions like speech and LED control.

Features

• Movement Control: Uses /cmd_vel to drive Misty.
• Speech: Misty can speak text received via a ROS 2 topic.
• LED Control: Change Misty's LED color.
• Battery Monitoring: Publishes battery status.

Prerequisites

1. Install ROS 2

Ensure you have ROS 2 Foxy or Humble installed. Follow ROS 2 installation instructions.

2. Install Dependencies

pip install requests

3. Set Misty's IP Address

Edit misty_ros2_wrapper.py and update:

self.misty_ip = '192.168.1.100'  # Replace with Misty's IP

Installation

Clone and build the ROS 2 package:

cd ~/ros2_ws/src
git clone <your-repo-url> misty_ros2
cd ~/ros2_ws
colcon build
source install/setup.bash

Usage

Run the ROS 2 Node

ros2 run misty_ros2 misty_ros2_wrapper

Movement Control

Publish a geometry_msgs/Twist message to /cmd_vel:

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

Make Misty Speak

ros2 topic pub /misty/speak std_msgs/msg/String "data: 'Hello from ROS 2!'"

Control Misty’s LED

ros2 topic pub /misty/led std_msgs/msg/String "data: 'red'"

Get Battery Status

ros2 topic echo /misty/battery

Future Enhancements

• Face recognition feedback
• Object detection
• RViz integration

License

MIT License