Adding parameters.

CMakeLists.txt

@@ -155,6 +155,7 @@ add_executable(axis_imu
 # )
 
 target_link_libraries(axis_imu
+  curl
   ${catkin_LIBRARIES}
 )
 

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);