ps4 ros

Sony PlayStation 4 DualShock®4 node joy_msg to twist_msg

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 $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

One by one

1. $ds4drv if it is not running already.
2. $rosparam set joy_node/dev "/dev/input/jsX"
3. $rosrun joy joy_node
4. $rosrun ps4_ros ps4_ros

roslaunch

1. $roslaunch ps4_ros ps4

• One can adjust the following parameter inside the launch file or use rosparam by using the one by one start procedure

  • <param name="scale_angular" value="1.5"/>

  • <param name="scale_linear" value="0.5"/>

Troubleshooting

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

To Do (v.2.0)

• Pan-and-Tilt on second joystick