I am reading accelerometer data from the wiimote /wiimote/state topic.

A sample of the data I'm working with is as follows:

  x: 8292.0
  y: 8246.0
  z: 8182.0
angular_velocity_covariance: [0.1915446291709091, 0.0, 0.0, 0.0, 0.3915998474972723, 0.0, 0.0, 0.0, 0.5571460438609092]
  x: -3.63209259259
  y: -1.45283703704
  z: 8.67511346154
  x: 120.0
  y: 128.0
  z: 154.0

From running the turtlebot3_teleop node I can see that the range of data on the linear-x axis is -2.84 to 2.84 while on the angular-y axis it's -0.22 to 0.22. My problem is the x axis the data I retrieve from the accelerometer is much larger. For instance, from the output above, angular_velocity_raw.z has a value of 8182.0 and linear_acceleration_raw.x has a value of 120.0.

Can anyone help me with advice on how I can accurately make my accelerometer figures fit into the specified ranges mentioned above?


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