Wiimote Teleop Sample Node
This sample ROS Node subscribes to the wiimote topics
/wiimote/nunchuk
/wiimote/state
And publishes command velocity used for motion
/cmd_vel
Either the four way D-pad of the Wiimote or the Joystick of the Nunchuk
can be used for controlling the values published for /cmd_vel.
Note: The Joystick and D-pad are mutually exclusive; if one is in
use the other is ignored.
ROS parameters
base (string)
Base name space string to prepend to velocity ROS parameters.
linear/x/max_velocity (double)
Maximum linear velocity (in m/s)
linear/x/min_velocity (double)
Minimum linear velocity (in m/s). Setting this to 0.0 will disable backwards motion. When unspecified, -max_velocity is used.
angular/z/max_velocity (double)
Maximum angular velocity (in rad/s)
angular/z/min_velocity (double)
Minimum angular velocity (in rad/s). Setting this to 0.0 will disable counter-clockwise rotation. When unspecified, -max_velocity is used.
linear/x/throttle_percent (double)
Default linear throttle percentage (0.0 to 1.0). Adjustable via the ‘1’ and ‘+/-’ buttons on the Wiimote. Defaults to 0.75. Private parameter which does not use the ‘base’.
angular/z/throttle_percent (double)
Default angular throttle percentage (0.0 to 1.0). Adjustable via the ‘2’ and ‘+/-’ buttons on the Wiimote. Defaults to 0.75. Private parameter which does not use the ‘base’.