To api: https://api.github.com/repos/ros-infrastructure/jenkins_tools/hooks
Send a post request: 
{
  "name": "web",
  "active": true,
  "events": ["pull_request"],
  "config": {
    "url": "http://packages.ros.org/cgi-bin/prerelease_hook"
  }
}
Using authentication.
E.g. use web form: http://hurl.it
