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New WiiMotion Plus pairs but the topic output does not change (Electric and Ubuntu 10.10)

Hi All,

I have a few of the new WiiMotion Plus (wiimote with built in Motion Plus) and I am trying to use the wiimote package with ROS Electric on Ubuntu 10.10.

So far, everything complies and runs fine, but after the wiimote is paired successfully, the terminal hangs.

So I get this:

kel@wyvern:~$ rosrun wiimote wiimote_node.py 
Press buttons 1 and 2 together to pair (within 6 seconds).
    (If no blinking lights, press power button for ~3 seconds.)
[INFO] [WallTime: 1349991095.467468] Pairing successful.
[INFO] [WallTime: 1349991095.778693] Checking presence of Nunchuk attachment ...ignore two possibly following error msgs.
[INFO] [WallTime: 1349991096.424111] Wiimote activated.
[INFO] [WallTime: 1349991097.831141] Calibration successful.
[INFO] [WallTime: 1349991097.834870] Wiimote IMU publisher starting (topic /imu/data).
[INFO] [WallTime: 1349991097.838450] Wiimote joystick publisher starting (topic wiijoy).
[INFO] [WallTime: 1349991097.842090] Wiimote state publisher starting (topic /wiimote/state).
[INFO] [WallTime: 1349991097.845175] Wiimote feedback listener starting (topic /joy/set_feedback).
[INFO] [WallTime: 1349991097.847821] Wiimote calibration service starting (topic /imu/calibrate).
[INFO] [WallTime: 1349991097.850338] Wiimote latched is_calibrated publisher starting (topic /imu/is_calibrated).

Upon looking at the broadcasted topic

rosrun wiimote wiimote_node.py

The command

rostopic list

yields

/imu/data
/imu/is_calibrated
/joy
/joy/set_feedback
/rosout
/rosout_agg
/wiimote/state

but with

rostopic echo /wiimote/state

I get the following output which just repeats and does not update:

header: 
  seq: 15218
  stamp: 
    secs: 1349991257
    nsecs: 428798675
  frame_id: ''
angular_velocity_zeroed: 
  x: -0.00130943628
  y: 0.0351647001
  z: -0.03612565737
angular_velocity_raw: 
  x: 7997.0
  y: 7972.0
  z: 7957.0
angular_velocity_covariance: [0.00011399123056619373, 0.0, 0.0, 0.0, 0.00067874597259235758, 0.0, 0.0, 0.0, 0.0002800379404909577]
linear_acceleration_zeroed: 
  x: -0.408610416667
  y: 0.0
  z: 9.80665
linear_acceleration_raw: 
  x: 126.0
  y: 128.0
  z: 152.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 15.954666742512758, 0.0, 0.0, 0.0, 0.0]
nunchuk_acceleration_zeroed: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_acceleration_raw: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_joystick_zeroed: [0.0, 0.0]
nunchuk_joystick_raw: [0.0, 0.0]
buttons: [False, False, False, False, False, False, False, False, False, False, False]
nunchuk_buttons: [False, False]
LEDs: [False, False, False, False]
rumble: False
ir_tracking: 
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
raw_battery: 112.0
percent_battery: 53.8461532593
zeroing_time: 
  secs: 1349991097
  nsecs: 830956935
errors: 0
---

All that changes is the time-stamp and the seq number in the header. Also, I am holding the wiimote within a few feet of the bluetooth dongle so I don't think it is a distance problem.

Let me know if you have any ideas, I think I am pretty close, but any help would be awesome.

Thanks very much :D

Kel

New WiiMotion Plus pairs but the topic output does not change (Electric and Ubuntu 10.10)

Hi All,

I have a few of the new WiiMotion Plus (wiimote with built in Motion Plus) and I am trying to use the wiimote package with ROS Electric on Ubuntu 10.10.

So far, everything complies and runs fine, but after the wiimote is paired successfully, the terminal hangs.

So I get this:

kel@wyvern:~$ rosrun wiimote wiimote_node.py 
Press buttons 1 and 2 together to pair (within 6 seconds).
    (If no blinking lights, press power button for ~3 seconds.)
[INFO] [WallTime: 1349991095.467468] Pairing successful.
[INFO] [WallTime: 1349991095.778693] Checking presence of Nunchuk attachment ...ignore two possibly following error msgs.
[INFO] [WallTime: 1349991096.424111] Wiimote activated.
[INFO] [WallTime: 1349991097.831141] Calibration successful.
[INFO] [WallTime: 1349991097.834870] Wiimote IMU publisher starting (topic /imu/data).
[INFO] [WallTime: 1349991097.838450] Wiimote joystick publisher starting (topic wiijoy).
[INFO] [WallTime: 1349991097.842090] Wiimote state publisher starting (topic /wiimote/state).
[INFO] [WallTime: 1349991097.845175] Wiimote feedback listener starting (topic /joy/set_feedback).
[INFO] [WallTime: 1349991097.847821] Wiimote calibration service starting (topic /imu/calibrate).
[INFO] [WallTime: 1349991097.850338] Wiimote latched is_calibrated publisher starting (topic /imu/is_calibrated).

Upon looking at the broadcasted topic

rosrun wiimote wiimote_node.py

The command

rostopic list

yields

/imu/data
/imu/is_calibrated
/joy
/joy/set_feedback
/rosout
/rosout_agg
/wiimote/state

but with

rostopic echo /wiimote/state

I get the following output which just repeats and does not update:

header: 
  seq: 15218
  stamp: 
    secs: 1349991257
    nsecs: 428798675
  frame_id: ''
angular_velocity_zeroed: 
  x: -0.00130943628
  y: 0.0351647001
  z: -0.03612565737
angular_velocity_raw: 
  x: 7997.0
  y: 7972.0
  z: 7957.0
angular_velocity_covariance: [0.00011399123056619373, 0.0, 0.0, 0.0, 0.00067874597259235758, 0.0, 0.0, 0.0, 0.0002800379404909577]
linear_acceleration_zeroed: 
  x: -0.408610416667
  y: 0.0
  z: 9.80665
linear_acceleration_raw: 
  x: 126.0
  y: 128.0
  z: 152.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 15.954666742512758, 0.0, 0.0, 0.0, 0.0]
nunchuk_acceleration_zeroed: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_acceleration_raw: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_joystick_zeroed: [0.0, 0.0]
nunchuk_joystick_raw: [0.0, 0.0]
buttons: [False, False, False, False, False, False, False, False, False, False, False]
nunchuk_buttons: [False, False]
LEDs: [False, False, False, False]
rumble: False
ir_tracking: 
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
raw_battery: 112.0
percent_battery: 53.8461532593
zeroing_time: 
  secs: 1349991097
  nsecs: 830956935
errors: 0
---

All that changes is the time-stamp and the seq number in the header. Also, I am holding the wiimote within a few feet of the bluetooth dongle so I don't think it is a distance problem.

Let me know if you have any ideas, I think I am pretty close, but any help would be awesome.

Thanks very much :D

Kel

New WiiMotion Plus pairs but the topic output does not change (Electric and Ubuntu 10.10)

Hi All,

I have a few of the new WiiMotion Plus (wiimote with built in Motion Plus) and I am trying to use the wiimote package with ROS Electric on Ubuntu 10.10.

So far, everything complies and runs fine, but after the wiimote is paired successfully, the terminal hangs.

So I get this:

kel@wyvern:~$ rosrun wiimote wiimote_node.py 
Press buttons 1 and 2 together to pair (within 6 seconds).
    (If no blinking lights, press power button for ~3 seconds.)
[INFO] [WallTime: 1349991095.467468] Pairing successful.
[INFO] [WallTime: 1349991095.778693] Checking presence of Nunchuk attachment ...ignore two possibly following error msgs.
[INFO] [WallTime: 1349991096.424111] Wiimote activated.
[INFO] [WallTime: 1349991097.831141] Calibration successful.
[INFO] [WallTime: 1349991097.834870] Wiimote IMU publisher starting (topic /imu/data).
[INFO] [WallTime: 1349991097.838450] Wiimote joystick publisher starting (topic wiijoy).
[INFO] [WallTime: 1349991097.842090] Wiimote state publisher starting (topic /wiimote/state).
[INFO] [WallTime: 1349991097.845175] Wiimote feedback listener starting (topic /joy/set_feedback).
[INFO] [WallTime: 1349991097.847821] Wiimote calibration service starting (topic /imu/calibrate).
[INFO] [WallTime: 1349991097.850338] Wiimote latched is_calibrated publisher starting (topic /imu/is_calibrated).

Upon looking at the broadcasted topic

rosrun wiimote wiimote_node.py

The command

rostopic list

yields

/imu/data
/imu/is_calibrated
/joy
/joy/set_feedback
/rosout
/rosout_agg
/wiimote/state

but with

rostopic echo /wiimote/state

I get the following output which just repeats and does not update:

header: 
  seq: 15218
  stamp: 
    secs: 1349991257
    nsecs: 428798675
  frame_id: ''
angular_velocity_zeroed: 
  x: -0.00130943628
  y: 0.0351647001
  z: -0.03612565737
angular_velocity_raw: 
  x: 7997.0
  y: 7972.0
  z: 7957.0
angular_velocity_covariance: [0.00011399123056619373, 0.0, 0.0, 0.0, 0.00067874597259235758, 0.0, 0.0, 0.0, 0.0002800379404909577]
linear_acceleration_zeroed: 
  x: -0.408610416667
  y: 0.0
  z: 9.80665
linear_acceleration_raw: 
  x: 126.0
  y: 128.0
  z: 152.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 15.954666742512758, 0.0, 0.0, 0.0, 0.0]
nunchuk_acceleration_zeroed: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_acceleration_raw: 
  x: 0.0
  y: 0.0
  z: 0.0
nunchuk_joystick_zeroed: [0.0, 0.0]
nunchuk_joystick_raw: [0.0, 0.0]
buttons: [False, False, False, False, False, False, False, False, False, False, False]
nunchuk_buttons: [False, False]
LEDs: [False, False, False, False]
rumble: False
ir_tracking: 
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
  - 
    x: -1.0
    y: -1.0
    ir_size: -1
raw_battery: 112.0
percent_battery: 53.8461532593
zeroing_time: 
  secs: 1349991097
  nsecs: 830956935
errors: 0
---

All that changes is the time-stamp and the seq number in the header. Also, I am holding the wiimote within a few feet of the bluetooth dongle so I don't think it is a distance problem.

Let me know if you have any ideas, I think I am pretty close, but any help would be awesome.

Thanks very much :D

Kel