From b19579f7924fa2306ff7fbdc1a6ee9795b6576e0 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Mon, 18 Mar 2019 13:44:44 +0100
Subject: [PATCH] Adding parameters.
---
CMakeLists.txt | 1 +
src/axis_imu.cc | 32 +++++++++++++++++++++++++++++++-
2 files changed, 32 insertions(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b4bbc1a..b8e6e47 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -155,6 +155,7 @@ add_executable(axis_imu
# )
target_link_libraries(axis_imu
+ curl
${catkin_LIBRARIES}
)
diff --git a/src/axis_imu.cc b/src/axis_imu.cc
index 6e3a0b7..65d1b6e 100644
--- a/src/axis_imu.cc
+++ b/src/axis_imu.cc
@@ -14,6 +14,8 @@
#include <boost/asio.hpp>
#include <boost/bind.hpp>
+#include <curl/curl.h>
+
std::string frame_id;
ros::Publisher imu_pub;
@@ -223,28 +225,56 @@ int main(int argc, char *argv[]) {
int rate;
std::string camera_ip;
std::string driver_ip;
+ std::string root_passwd;
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<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());
int gyro_div = 2000/rate;
int accel_div = 1000/rate;
std::ostringstream os;
- os << "http://" << camera_ip << "local/motionloggerudp/control.cgi?cmd=start&target_ip=" << driver_ip
+ os << "http://" << "root:" << root_passwd << "@" << camera_ip
+ << "/local/motionloggerudp/control.cgi?cmd=start&target_ip=" << driver_ip
<< "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div;
std::string url = os.str();
+ CURL *curl;
+ CURLcode res;
+
+ curl = curl_easy_init();
+
+ if (curl) {
+ curl_easy_setopt(curl, CURLOPT_URL, url);
+ /* example.com is redirected, so we tell libcurl to follow redirection */
+ curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
+
+ /* Perform the request, res will get the return code */
+ res = curl_easy_perform(curl);
+ /* Check for errors */
+ if(res != CURLE_OK)
+ fprintf(stderr, "curl_easy_perform() failed: %s\n",
+ curl_easy_strerror(res));
+
+ /* always cleanup */
+ curl_easy_cleanup(curl);
+ } else {
+ ROS_ERROR("Could not create curl object, exiting");
+ exit(1);
+ }
+
ROS_INFO("COMMAND URL: %s", url.c_str());
imu_pub = nh.advertise<sensor_msgs::Imu>("imu",1);
--
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