[ros-users] How to use wiimote as an imu for robot_pose_ekf

Wim Meeussen meeussen at willowgarage.com
Tue Feb 15 06:43:44 UTC 2011

> Hi, I'm trying to do the same thing - I'm trying to combine the wiimote IMU
> data with visual odometry from the vslam package.  I've tried all the
> troubleshooting tips and I still can't figure out.  As Alessio mentioned, I
> had to remap imu_data to imu/data in the robot_pose_ekf package.  Here's my
> output when I run the script wtf.py in the robot_pose_ekf package.
>  * Odometry sensor
>   - is NOT active
>   - received 0 messages
>   - listens to topic
>  * IMU sensor
>   - is NOT active
>   - received 1569 messages
>   - listens to topic /imu/data
>  * Visual Odometry sensor
>   - is NOT active
>   - received 62 messages
>   - listens to topic /vo
> Output:
>  * Robot pose ekf filter
>   - is active
>   - sent 20 messages
>   - pulishes on topics /robot_pose_ekf/odom_combined and /tf

The filter is active, which means that at some point one or more of
your sensors were active too. The robot pose ekf automatically enables
sensors when new data is received, and disables them when not data is
received in a time interval specified by the "sensor_timeout"
parameter. I think your sensors are getting activated and deactivated
all the time. You should get lots of useful information in rxconsole,
just try to run the robot pose ekf with rxconsole on.

Hope this helps,


Wim Meeussen
Willow Garage Inc.

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