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Robotics Tutorial 4: Beginner's trouble - cant connect to P3DX robot

    Question

  • I am new to Robotics Developer Studio and I am trying to connect and control a mobile robot from a desktop PC by following the Basic Robotics Tutorials.  I have a serial cable connection from my desktop to a P3-DX mobile robot. 

    When I run Tutorial 4 "Drive-By-Wire": http://msdn.microsoft.com/en-us/library/bb483053.aspx I get the following error message (below).
    The DSS Direction Dialogue appears but there is no response from the robot when direction buttons are pressed.

    Can anybody please help?

    Thanks,
    pp

    --------------------------
    Info: program.DriveDifferentialTwoWheel.GenericDifferentialDrive: Created
    --------------------------
    Error: Partner enumeration during service startup failed. Partner Name:http://schemas.microsoft.com/robotics/2006/05/drive.html:LeftMotor
    Partner Contract:
        Partners specified statically in service implementation class:
            PartnerAttribute Name:SubMgr,Contract:http://schemas.microsoft.com/xw/2005/01/subscriptionmanager.html,CreationPolicy:CreateAlways
            PartnerAttribute Name:LeftMotor,Contract:http://schemas.microsoft.com/robotics/2006/05/motor.html,CreationPolicy:UsePartnerListEntry
            PartnerAttribute Name:RightMotor,Contract:http://schemas.microsoft.com/robotics/2006/05/motor.html,CreationPolicy:UsePartnerListEntry
            PartnerAttribute Name:LeftEncoder,Contract:http://schemas.microsoft.com/robotics/2006/05/encoder.html,CreationPolicy:UsePartnerListEntry
            PartnerAttribute Name:RightEncoder,Contract:http://schemas.microsoft.com/robotics/2006/05/encoder.html,CreationPolicy:UsePartnerListEntry
        Partners specified at runtime, in CreateRequest:
            Name: http://schemas.microsoft.com/xw/2004/10/dssp.html:ConstructorService, Contract: http://schemas.microsoft.com/xw/2004/10/constructor.html, Service: dssp.tcp://eg-cm150-gh:50001/constructor
            Name: http://schemas.microsoft.com/xw/2004/10/dssp.html:PartnerListService, Contract: http://schemas.microsoft.com/xw/2004/10/partnerlist.html, Service: dssp.tcp://eg-cm150-gh:50001/drivedifferentialtwowheel/05dd75e2-65f1-44c7-bce6-ede00aa2bdbd/dss/partnermanager

    Source: http://eg-cm150-gh:50000/drivedifferentialtwowheel/05dd75e2-65f1-44c7-bce6-ede00aa2bdbd
    Code site: Boolean HandlePartnerFailure(Microsoft.Ccr.Core.Port`1[System.Boolean], Microsoft.Dss.ServiceModel.Dssp.ServicePartnerMetadata, Microsoft.Dss.ServiceModel.Dssp.PartnerType, System.Exception)() at line:0, file
    Time: 01/10/2009 15:52:06
    --------------------------
    Error: Service failed second phase of Start. Calling Shutdown
    Source: http://eg-cm150-gh:50000/drivedifferentialtwowheel/05dd75e2-65f1-44c7-bce6-ede00aa2bdbd
    Code site: Void StartFailed()() at line:0, file
    Time: 01/10/2009 15:52:06
    --------------------------
    Info: Lookup known services
    Source: http://eg-cm150-gh:50000/model/roboticstutorial
    Code site: Boolean MoveNext()() at line:0, file
    Time: 01/10/2009 15:52:06
    --------------------------
    None: ### DsspForwarder: Received unsolicited response(http://schemas.microsoft.com/xw/2004/10/dssp.html:InsertResponse) from :
    Time: 01/10/2009 15:52:06
    --------------------------
    Info: Create activity instances
    --------------------------

     
    Thursday, October 01, 2009 3:11 PM

Answers

  • It looks like you are using the Generic Differential Drive but you have not specified a manifest to connect to a real drive. The Generic drive requires left and right motor services. (Most of the "real" drives don't work this way and just access the two motors directly). So you need to import a manifest for the P3DX. Look in the Properties for the Generic Diff Drive in VPL.

    Trevor
    Monday, October 12, 2009 6:09 PM

All replies

  • Actually, it was the VPL version of that tutorial, not the C# version: http://msdn.microsoft.com/en-us/library/bb483038.aspx
    Thursday, October 01, 2009 3:14 PM
  • It looks like you are using the Generic Differential Drive but you have not specified a manifest to connect to a real drive. The Generic drive requires left and right motor services. (Most of the "real" drives don't work this way and just access the two motors directly). So you need to import a manifest for the P3DX. Look in the Properties for the Generic Diff Drive in VPL.

    Trevor
    Monday, October 12, 2009 6:09 PM