From 5fea945549be975ce97693142621bae6add931b5 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 8 Aug 2019 17:16:49 +0200
Subject: [PATCH] Work on getting orientatiion..
---
src/axis_imu.cc | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/axis_imu.cc b/src/axis_imu.cc
index 351194e..9e7f6c2 100644
--- a/src/axis_imu.cc
+++ b/src/axis_imu.cc
@@ -97,7 +97,9 @@ private:
void handle_receive(const boost::system::error_code& error,
std::size_t bytes_transferred) {
if (!error || error == boost::asio::error::message_size) {
+ // MESSAGES SIZE: 91 bytes
// cerr << "Got message: " << bytes_transferred << endl;
+
// cerr << "Got message: " << bytes_transferred << " - " << recv_buffer_[0] << " - " << recv_buffer_[33] << endl;
// float time = bytesToFloat(recv_buffer_[1], recv_buffer_[2], recv_buffer_[3], recv_buffer_[4]);
double gtime = bytesToDouble(1);
@@ -283,7 +285,7 @@ int main(int argc, char *argv[]) {
os << "http://" << camera_ip
<< "/local/motionloggerudp/control.cgi?cmd=start&target_ip=" << driver_ip
<< "&target_port=" << port
- << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div;
+ << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div << "&pos_enabled=1";
std::string url = os.str();
ROS_INFO("COMMAND URL: %s", url.c_str());
--
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