Pioneer P3-DX Serial port configuration in MSRS

Raul Arrabales

Hi, I am trying to test my code (developed in the simulation environment) in a real Pioneer P3 DX robot.

First of all, I tried to run Robotics Tutorial 5 in order to check that MSRS can successfully communicate with the hardware, but I cannot get it working.

My hardware setup is as follows: I have a P3-DX robot base without embedded computer, therefore I am using a piggybacked laptop computer. Given that the laptop doesn't come with a serial port, I am using a USB to RS232 adapter, which works successfuly when I run the ARIA demo (I just need to tell ARIA that the robot is attached to COM4 (my usb adaptor).

However, using MSRS, and the ARCOS services, I don't know how to tell MSRS to use laptop's COM4 to communicate with my P3-DX robot. Can someone help me out Thanks!

array2001

I was using MSRS 1.0, so, just in case, I'm using now MSRS 1.5 CTP May 2007.

Now, when I run the Explorer (Robotics Tutorial 5), I get the following error:

** Unable to load state from C:\Microsoft Robotics Studio 1.5 (CTP May 2007)\store\ArcosCoreService.xml [06/13/2007] 16:17:20][http://portatilrobot:50000/mountpoint]

I don't have such a file, and I don't know how to create it... Any help would be appreciated

Dave Lee

Hello array,

You will want to check the DriverState section and adjust the connection settings...

<ArcosCoreState xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.microsoft.com/xw/2005/12/arcoscore.html">

<DriverState>

<ComPort>COM1</ComPort>

<BaudRate>0</BaudRate>

</DriverState>

</ArcosCoreState>

You can create it as follows:

1. Run VPL

2. Drag the "Arcos Core" service on to the pallette

3. In the properties tab, change Configuration to "Set initial configuration"

4. Update the DriverState section with the appropriate config

5. Save the diagram

6. Find the ArcosCore.Config.xml in the directory where you saved the diagram and copy it to [1], making sure to change the name to "ArcosCoreService.xml".

7. Run your service again.

Let me know if this resolves your issue.

David

array2001

Thanks David, I followed the steps you provided and I can now connect to my P3-DX. I have no LRF, but I can here the SONAR buzzer..

Cheers,

Raul.