Broadcasting complete Wiimote messages to Topic wiimote
Initializes the full-Wiimote publisher. Parameters: wiiMote: a bluetooth-connected, calibrated WIIMote instance freq: the message sending frequency in messages/sec. Max is 100, because the Wiimote only samples the sensors at 100Hz.
Reimplemented from wiimote_node.WiimoteDataSender.
Loop that obtains the latest wiimote state, publishes the data, and sleeps. The wiimote message, if fully filled in, contains information in common with Imu.msg: acceleration (in m/s^2), and angular rate (in radians/sec). For each of these quantities, the IMU message format also wants the corresponding covariance matrix. The covariance matrices are the 3x3 matrix with the axes' variance in the diagonal. We obtain the variance from the Wiimote instance.