wiimote

The wiimote package allows ROS nodes to communicate with a Nintendo Wiimote

and its related peripherals, including the Nunchuk, Motion Plus, and (experimentally) the Classic. The package implements a ROS node that uses Bluetooth to communicate with the Wiimote device, obtaining accelerometer and gyro data, the state of LEDs, the IR camera, rumble (vibrator), buttons, joystick, and battery state. The node additionally enables ROS nodes to control the Wiimote’s LEDs and vibration for feedback to the human Wiimote operator. LEDs and vibration may be switched on and off, or made to operate according to a timed pattern.

• Links

  • Website

  • Repository

  • Bugtracker

• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API
• Standard Documents
  • CHANGELOG
  • LICENSE
  • PACKAGE
  • README

• Documentation
  • Testing procedures for the WiiMote package
  • tutorials/

README

Wiimote Nodes

Additional Documentation

• Testing procedure

• ROS Wiki

Tutorials

• Teleop with Wiimote

wiimote_node.py

Original Python version of the wiimote node.

wiimote_node

The C++ implementation was designed with focus on reduced resource consumption.

Parameters

• bluetooth_addr [str] - Bluetooth address for pairing. Default: 00:00:00:00:00:00 (first device)

• pair_timeout [int] - Pair timeout in seconds. -1 means never timeout. Default: 5

Differences from Python Implementation

• Both “/wiimote/nunchuk” and “/wiimote/classic” topics are only published if the Nunchuk or Classic Controller are connected to the wiimote respectively.

• Wiimote data is only polled from the controller if the data is required to publish for a topic which has at least one subscriber.

• During Calibration the joysticks (Nunchuk & Classic Controller) are polled to find the current position which is assumed to be the center. Not all joysticks rest at the theoretical center position.

• Joysticks (Nunchuk & Classic Controller) minimum and maximum values start at 80% of the theoretical minimum/maximum values and are dynamically updated as the joystick is used. The full range of values may not be reached on all joysticks due to physical limitations. Without this adjust, the full range from -1.0 to 1.0 would not be reached on many joysticks.

• Joysticks (Nunchuk & Classic Controller) center deadzone is scaled based on the granularity of the joystick; python code assumed the same for all.

• Connecting an accessory (Nunchuk, Classic Controller, or MotionPlus) will automatically start a new calibration sequence.