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.

Changelog for package wiimote

3.3.0 (2023-10-31)

3.2.0 (2023-10-10)

• Revert "Fix dependency issues." (#259)
• Fix dependency issues.
• Contributors: Chris Lalancette, Joshua Whitley

3.1.0 (2022-01-28)

• Install includes to include/ and misc CMake fixes (#225)
• Style fixes for newer cpplint.
• Contributors: Chris Lalancette, Shane Loretz

3.0.1 (2022-01-28)

3.0.0 (2021-03-12)

• Fix a warning while building wiimote_controller.cpp (#201)
• fix compile error caused by missing include (#197)
• Port over Wiimote to ROS2 Foxy (#175)
• Contributors: Chris Lalancette, Kuni Natsuki, Kurt Wilson

1.13.0 (2019-06-24)

• Merge pull request #132 from mistoll/clean_exit
• return instead of shutdown
• Merge pull request #128 from ros-drivers/fix/tab_errors
• Cleaning up Python indentation.
• Merge pull request #125 from mistoll/check_connection
• Check if wiimote is still connected.
• Merge pull request #123 from cclauss/modernize-python2-code
• Modernize Python 2 code to get ready for Python 3
• Merge branch 'master' into indigo-devel
• Contributors: Joshua Whitley, Matthew, Michael Stoll, cclauss

1.12.0 (2018-06-11)

• Addressed numerous outstanding PRs.
• Fixed issue when nunchuk wasn't connected
• Update README.md
• Added testing proceedures for wiimote
• Resolved div-by-zero error race condition on startup.
• Added testing proceedures for wiimote
• Fixed issue when nunchuk wasn't connected
• Changed package xml to format 2
• Added wiimote testing script
• Add pairing params to wiimote_node
  • bluetooth_addr
  • pair_timeout
• Contributors: Jonathan Bohren, Matt Vollrath, jprod123, psimona

1.11.0 (2017-02-10)

• Sample Teleop Implementation for Wiimote
• C++ Implementation of Wiimote Controller Node
• Add queue_size to remove ROS Warning
• Update dependencies to remove warnings
• Contributors: Mark D Horn

1.10.1 (2015-05-24)

1.10.0 (2014-06-26)

• First indigo release