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.
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'.
| Button | Function |
|---|---|
| D-Pad Up | Move Forward |
| D-Pad Down | Move Reverse |
| D-Pad Left | Turn/Spin Left |
| D-Pad Right | Turn/Spin Right |
| B (Trigger) | 2x Speed (up to Max) |
| A | 1/4 Speed |
| Home | Display Wiimote battery level |
| 1* | Linear Throttle (defaults to 75%) |
| 2* | Angular Throttle (defaults to 75%) |
| + | Increase Throttle (rumbles at max) |
| - | Decrease Throttle (rumbles at min) |
| Joystick Up | Move Forward |
| Joystick Down | Move Reverse |
| Joystick Left | Turn/Spin Left |
| Joystick Right | Turn/Spin Right |
| Z (Trigger) | 2x Speed (up to Max) |
| C (Trigger) | 1/4 Speed |
* Throttle level displayed on Wiimote LEDs
Launch files are provided with usage examples using the turtlebot simulator for both Python (turtlesim_py.launch) and C++ (turtlesim_cpp.launch).
Requires the installation of ros--turtlesim ROS package.