[ros-users] [Discourse.ros.org] [TurtleBot] [TB3] problem to connect wiimote to Turtlebot 3

Kening Ren ros.discourse at gmail.com
Thu Jul 20 04:33:35 UTC 2017

I have two issues:
In Teleoperation chapter:  http://turtlebot3.readthedocs.io/en/latest/teleoperation.html, for every listed remote controller, all operations are marked as "[Remote PC]". Should it be "[Turtlebot]" instead? We need to connect the remote controller directly with TB3, in order to control TB3 via the remote controller. It has nothing to do with the "Remote PC". Please clarify this. 

I am not able to connect wiimote to TB3.
Here is what I did:
At first, run:
sudo apt-get install ros-kinetic-wiimote
rosdep install wiimote
rosmake wiimote

Everything is fine. No error found.

Then I try to pair wiimote with TB3. I get the following error:

$ 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.)
Wiimote read error
Read error (nunchuk cal)
/opt/ros/kinetic/lib/python2.7/dist-packages/wiimote/wiistate.py:157: RuntimeWarning: divide by zero encountered in divide
  self.acc = WIIReading((self.accRaw - self._accCalibrationZero) / (self._accCalibrationOne - self.accCalibrationZero), self.time)

Then I added some logs in wiimote_node.py. and I found that the following line is not working:

wiimoteDevice = wiimode.WIIMote.WIIMote()

I went through the source code of wiimote module: WIIMote.py and then found that the following line is causing the problem:
self._wm = cwiid.Wiimote()
See http://docs.ros.org/diamondback/api/wiimote/html/WIIMote_8py_source.html

Anyway, I am able to pair wiimote directly with Ubuntu. But I am not able to pair it with TB3. 
Have you seen similar problem? Any solutions?

Thank you very much.

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