Adding _pos_enabled parameter

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.

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();