Being digital

Pre-install program

Microsoft Visual Studio 2008 (default program: 2005)

Microsoft Robotics Studio 1.5

Runtime and Tools update for MSRS(1.5)

1. Install Java 1.5.0.14
2. Install ICE
3. Install Ant
4. Set Environment variable
   1. Path=

%SystemRoot%\system32;%SystemRoot%;%SystemRoot%\System32\Wbem;C:\Program Files\VAIOXP\Libraries\;C:\Program Files\Java\jdk1.5.0_14\bin;%ICE_HOME%\bin;%ANT_HOME%\bin;C:\WINDOWS\Microsoft.NET\Framework\v2.0.50727;C:\Program Files\Microsoft SQL Server\90\Tools\binn\

2. CLASSPATH

.;

3. ICE_HOME

C:\Ice-3.1.1

4. ANT_HOME

c:\ant

5. JAVA_HOME

C:\Program Files\Java\jdk1.5.0_14

6. MRS_HOME

C:\Microsoft Robotics Studio (1.5)

7. TERK_HOME

C:\terk-source

5. Copy file which related about junit
   1. Source: %TERK_HOME%\TeRKBuild\lib\junit\junit.jar
   2. Destination:  %ANT_HOME%\lib
6. Run ‘Start->Program->Microsoft Robotics Studio (1.5)->Command Prompt’
7. ant clean
8. ant dist.c#
   1. ant error 2(csc) occurs  when ant does not find .NET compiler  csc
   2. C:\WINDOWS\Microsoft.NET\Framework\v2.0.50727   - Add this position at Environment ‘Path’
9. Copy files
   1. Source: %TERK_HOME%\\TeRKClient\dist\c#\components\*.dll
   2. Destination:  %TERK_HOME%\TeRKClient\code\c#MicrosoftRoboticsStudio\TeRK\QwerkService
10. Copy folder
    1. Source: C:\terk-source\TeRKClient\code\c#\MicrosoftRoboticsStudio\TeRK
    2. Destination:  %MRS_HOME%\samples\TeRK
11. Open %MRS_HOME%\samples\RoboticsTutorials\Tutorial4\CSharp\RoboticsTutorial4.csproj, Build.
12. Open %MRS_HOME%\samples\TeRK\QwerkService\QwerkService.sln
    1. Open QwerkService.cs, edit this variable
       1. QWERK_USER_ID ->******
       2. DEFAULT_CLIENT_USER_ID -> ******
       3. DEFAULT_CLIENT_PASSWORD -> ******
    2. Edit References
       1.  Edit position of  MRPLPeer.dll, TeRKClientComponents.dll, TeRKPeerCommon.dll
       2.  Position of dll files: %MRS_HOME%\samples\TeRK\QwerkService
    3. Edit Project Properties
       1. Debug->start external program
          1. C:\Microsoft Robotics Studio (1.5)\bin\DssHost.exe
       2. Debug working directory
          1. C:\Microsoft Robotics Studio (1.5)
       3. Build->Output->Output path
          1. C:\Microsoft Robotics Studio (1.5)\bin\services
       4. Build Event
          1. "C:\Microsoft Robotics Studio (1.5)\bin\DssProxy.exe" /dll:"$(TargetPath)" /proxyprojectpath:"$(ProjectDir)Proxy " /keyfile:"$(AssemblyOriginatorKeyFile)" $(ProxyDelaySign) $(CompactFrameworkProxyGen) /binpath:". " @(ReferencePath->'/referencepath:"%(RootDir)%(Directory) "', ' ')
          2. check  Runtime and Tools update for MSRS(1.5)
       5. Reference Path
          1. C:\Microsoft Robotics Studio (1.5)\bin
          2. C:\Microsoft Robotics Studio (1.5)\bin\services
       6. Signing
          1. C:\Microsoft Robotics Studio (1.5)\samples\mrisamples.snk
    4. Build
13. Open C:\Microsoft Robotics Studio (1.5)\samples\TeRK\QwerkMotorService\QwerkMotorService.sln
    1. References
       1. C:\Microsoft Robotics Studio (1.5)\bin\QwerkService.Y2006.M08.dll
       2. C:\Microsoft Robotics Studio (1.5)\bin\RoboticsCommon.proxy.dll
       3. C:\Microsoft Robotics Studio (1.5)\bin\QwerkService.Y2006.M08.proxy.dll
14. Build
15. Copy files
    1. Source:QwerkService\QwerkService.ice.properties
    2. Destination: MRS_HOME
16. Turn on Qwerk Robot, connect with ip. And set relay mode.
17. At Microsoft Robotics studio command prompt , type this.
    1. dsshost /port:50000 /manifest:"samples\TeRK\RoboticsTutorial4.Qwerk.manifest.xml"
    2. You can see the gui window. And click the arrow button & stop.
18. Results
    1. If  you see the  QWERK_USER_ID  in QwerkService.cs & QwerkService.ice.properties
       1. This program try to connect edu.cmu.ri.mrpl
    2. When you run MSRS1.5,  you can manipulate QwerkService QwerkMotorService
19. Be cafeful
    1. Check the battery.
    2. Check the lan cable.
    3. Does Qwerk robot answer the Ping?
    4. Check  relay connection info of TeRK robot.

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