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Raúl

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Arcos Sonar - 2010/03/22 09:52 Question sent over email:

Thank you for the code you have written. Its helped me understand the Pioneer system and C Sharp coding alot. However, I have an issue. I am trying to use your code for the ARCOS SONAR on the Pioneer 3D-X. Whenever I try to deploy it however, it will not build. It keeps saying "Unable to find assembly that contains the contract:
http://www.conscious-robots.com/2007/07/sonar.html".

Am I supposed to change the manifest? What am I missing?

Thanks
Raúl Arrabales Moreno. conscious-robots.com/raul

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Raúl

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Re:Arcos Sonar - 2010/03/22 10:08 Hi, I´m glad the CRUBOTS code is helpful.

The manifest I used without problems is:

Code:


 <?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    >
    <CreateServiceList>
        <ServiceRecordType>
            <dssp:Contract>http://www.conscious-robots.com/2007/07/sonar.html</dssp:Contract>
        </ServiceRecordType>
    </CreateServiceList>
</Manifest>

The reason why you get this error I asume is because the DSS node cannot find the Pioneer Arcos Sonar DLL in the bin directory. Either because it's not there or because the contract directory cache is not properly updated.

So you could first make sure that when you compile the service, the corresponding dll files appear in the MRDS bin directory. (Check Visual Studio properties to see what is the assembly file name. Probably: ArcosSonar.Y2007.M07). You also need to check in Visual Studio that the output path (where the assembly is put after generation) is pointing to your MRDS bin directory. Otherwise, RDS won't find it.

Cheers,
Raúl. Raúl Arrabales Moreno. conscious-robots.com/raul

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earlthebrit
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Re:Arcos Sonar - 2010/03/22 11:49 Hooray! It did build. Thank you! But now I run into a new error

When I try to load it to the robot using dsshost, it cannot create the service. This is the message: *** Error creating service. Service type:http://www.conscious-robots.com/2007/07/sonar.html.

It says its either 1) Service contract indentifier or Create request does not match Contract.Identifier or 2) Service references a different version of runtime assemblies

I´ve had to update to MRDS 2008 and .NET Framework 3.5, will that cause an issue? I thought I updated all the properties when I made the switch.

William

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Raúl

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Re:Arcos Sonar - 2010/03/22 17:30 Hmmm.. Did you get the source code from CRUBOTS Download here? This version was already tested against MRDS 2008 R2 and .NET Framework 3.5...
Are you using RDS 2008 R2? Anyhow, if you compiled the code, it shouln't complain about different versions of runtime assemblies...
Did you run DssProjectMigration.exe on the project files (so assembly references get fixed)?

Maybe you have different versions installed in your machine.. Try running DssProjectMigration and then rebuild.

Anyway, I'll have a look at it and will upload a new version soon (tomorrow I think). Raúl Arrabales Moreno. conscious-robots.com/raul

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earlthebrit
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Re:Arcos Sonar - 2010/03/23 12:27 No I did not run the DssProjectMigration. Once I did, everything worked great. Thank you so much!

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Raúl

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Re:Arcos Sonar - 2010/03/23 20:15 Anytime. Usually DssProjectMigration fixes all reference paths, so it is worth to run it before even trying to fix paths in Visual Studio yourself. Anyhow, sometimes I've needed to change paths in Visual Studio project properties (assembly output path or manifest file location).

Cheers,
Raúl. Raúl Arrabales Moreno. conscious-robots.com/raul

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