ps4_ros

Sony PlayStation 4 DualShock®4 node joy_msg to twist_msg. The connection with Sony PlayStation 4 DualShock®4 is established using Bluetooth.

Installation

1. Install ds4dr: $sudo pip install ds4drv
2. Install ros-joy: http://wiki.ros.org/joy
3. Go into pairing mode with PS4: Playstation button + share button for ~5 sec
4. Run sudo ds4drv from command line to connect to PS4
5. This will output something like _Created devices /dev/input/jsX
6. remember /dev/input/js__X__ and update the launch file (default X=0)
7. $ sudo chmod a+rw /dev/input/jsX

Starting

1. Go into pairing mode with PS4 controller: Playstation button + share button until withe led starts flashing.
2. sudo ds4drv if it is not running already.
3. $ roslaunch ps4_ros ps4

Arguments

• device_name: name assigned to the device. It is the joystick name appearing when launching sudo ds4drv
• pub_topic_twist: name of the topic where the PS4 controller publishes twist messages
• max_linear_twist: max linear twist
• max_angular_twist: max angular twist

Troubleshooting

• Display raw ds4drv data
  • $sudo jstest /dev/input/jsX

Reference

• Adapted from PS4-ros