Text Messeging From iPod Touch to Android

So since I switched to an Android phone, one of my kids can't iMessage me anymore from her ipod Touch, is there any way that anyone knows how to do this?

I tried the usual apps, WhatsApp and Messenger, but they all require a phone number to activated the app.

I hoping there is a simple app that you install and away you go, but I cannot find anything, its driving me crazy that what seems so simple and idea is almost impossible to do.

Thanks.

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