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##FILL ME IN
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## links to any required tutorials
## note.0= [[wiimote/Tutorials/StartingWiimoteNode| Pairing and Using a Wiimote with ROS]]
## descriptive title for the tutorial
## title = Writing a Teleoperation Node for the Wiimote
## multi-line description to be displayed in search
## description = This tutorial covers how to write a teleoperation node and use it to drive the turtle in the [[turtlesim]].
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
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## what level user is this tutorial for
## level= BeginnerCategory
## keywords = teleoperation, joystick, Wiimote
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

=== Create a Scratch Package ===
Before starting this tutorial, take the time to create a scratch package to work in and manipulate the example code. See [[ROS/Tutorials/CreatingPackage|creating a ROS package]] to learn more about creating a package. In the sandbox folder, create a package called learning_wiimote, with dependencies on roscpp, turtlesim and wiimote:

{{{
$ roscd sandbox
$ roscreate-pkg learning_wiimote roscpp turtlesim wiimote
}}}
Uncomment the rosbuild_genmsg() line in the CMakeLists.txt file of the learning_wiimote package and run [[rosmake]].

=== Writing a Simple Teleoperation Node ===
First, create learning_wiimote/src/turtle_teleop_wiimote.cpp in your favorite editor, and place the following inside it:

<<Include(joystick_drivers/Tutorials/TeleopNode,,from="##start", to="##end")>>

=== Compiling and Running Turtle Teleop ===
Add the following line to your CMakeLists.txt file:

{{{
rosbuild_add_executable(turtle_teleop_wiimote src/turtle_teleop_wiimote.cpp)
}}}

Run [[rosmake]] on your package.

=== Writing a Launch File to Start all of the Nodes ===
Now let's make a launch file to start all of the nodes we need to start: create the file launch/turtle_wii.launch and paste the following into it:

<<GetTaggedCode(https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers_tutorials/trunk/turtle_teleop/launch/turtle_wii.launch,xml,FULL,show_uri)>>

change the line before the last one to: <node pkg="learning_wiimote" type="turtle_teleop_wiimote" name="teleop"/>

Now you can start your nodes to drive your turtle around:

{{{
roslaunch learning_wiimote turtle_wii.launch
}}}
Press the 1 & 2 buttons as directed. Now use the move the wiimote controller to drive.

## AUTOGENERATED DO NOT DELETE
## TutorialCategory
## TutorialTurtlesim
## JoyStickDriverCategory