Has anyone done integration of the Wii MotionPlus data to get a pose
estimate? I tried using robot_pose_ekf, but haven't found the right
configuration yet.

Currently, tis giving me this:
MSG to TF: Quaternion Not Properly Normalized

Here's my launch file:
 <launch>
  <node pkg="robot_pose_ekf" type="robot_pose_ekf"
name="robot_pose_ekf" output="screen">
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="false"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <remap to="/imu/data" from="/imu_data" />
  </node>
  <node pkg="wiimote" type="wiimote_node.py" name="wiimote" />
 </launch>