From 9ba38b4a0c44aeef4edd896f373e2feb65ae2fb1 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Fri, 30 Aug 2019 15:27:20 +0200
Subject: [PATCH] Adding _pos_enabled parameter
---
README.md | 8 +++++---
src/axis_imu.cc | 17 ++++++++++-------
2 files changed, 15 insertions(+), 10 deletions(-)
diff --git a/README.md b/README.md
index 95b25b3..4468e59 100644
--- a/README.md
+++ b/README.md
@@ -2,20 +2,22 @@
Driver to Axis IMU.
-Use app file: motionloggerudp_0_6-0_mipsisa32r2el.eap
+Use app file: motionloggerudp_0_6-1_mipsisa32r2el.eap
at least.
Usage:
```bash
-rosrun axis_imu axis_imu _frame_id:=imu_frame _rate:=100 _root_passwd:=pass _camera_ip:=192.168.7.205 _driver_ip:=192.168.7.160 _port:=5000
+rosrun axis_imu axis_imu _frame_id:=imu_frame _rate:=100 _root_passwd:=pass _camera_ip:=192.168.7.205 _driver_ip:=192.168.7.160 _port:=5000 _pos_enabled:=0
```
The port specification only works the first time. To get it to work
again go to the app section in the camera and stop and start the
motionloggerudp app.
-The orientation is not filled in since I do not get sensible values from my camera.
+The orientation is not filled in since I do not get sensible values
+from my camera. The POSITION is really the pan tilt value so should
+not be used as imu rotaation.
Patch the code if you need.
diff --git a/src/axis_imu.cc b/src/axis_imu.cc
index da39f40..9433ce3 100644
--- a/src/axis_imu.cc
+++ b/src/axis_imu.cc
@@ -254,6 +254,7 @@ int main(int argc, char *argv[]) {
int port;
int rate;
+ int pos_enabled;
std::string camera_ip;
std::string driver_ip;
std::string root_passwd;
@@ -261,16 +262,18 @@ int main(int argc, char *argv[]) {
private_nh.param<int>("port", port, 5000);
private_nh.param<std::string>("frame_id", frame_id, "imu");
private_nh.param<int>("rate", rate, 200);
+ private_nh.param<int>("pos_enabled", pos_enabled, 0);
private_nh.param<std::string>("camera_ip", camera_ip, "192.168.7.19");
private_nh.param<std::string>("driver_ip", driver_ip, "192.168.7.160");
private_nh.param<std::string>("root_passwd", root_passwd, "pass");
- ROS_INFO("Camera IP: %s", camera_ip.c_str());
- ROS_INFO("Driver IP: %s", driver_ip.c_str());
- ROS_INFO(" Port: %d", port);
- ROS_INFO(" Frame Id: %s", frame_id.c_str());
- ROS_INFO(" Rate: %d", rate);
- ROS_INFO("Root pass: %s", root_passwd.c_str());
+ ROS_INFO(" Camera IP: %s", camera_ip.c_str());
+ ROS_INFO(" Driver IP: %s", driver_ip.c_str());
+ ROS_INFO(" Port: %d", port);
+ ROS_INFO(" Frame Id: %s", frame_id.c_str());
+ ROS_INFO(" Rate: %d", rate);
+ ROS_INFO("Pos Enabled: %d", pos_enabled);
+ ROS_INFO(" Root pass: %s", root_passwd.c_str());
int gyro_div = 2000/rate;
int accel_div = 1000/rate;
@@ -289,7 +292,7 @@ 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 << "&pos_enabled=1"
+ << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div << "&pos_enabled=" << pos_enabled
;
std::string stopurl = osstop.str();
--
GitLab