joystick

PlayStation DualShock3 and DualShock4 are supported in our system.Both controller are confirmed in Ubuntu16.04

• PlayStation-DualShock3
• PlayStation-DualShock4

PlayStation DualShock4

Install for wireless connection

Please refer to http://cryborg.hatenablog.com/entry/2016/09/19/185501

$ sudo pip install ds4drv

Wireless Pairing

• No need to connect the controller with host PC via USB cable
• But please check the bluetooth is ON in host PC as shown in following figure:
• Run following command:

$ sudo ds4drv

Press the PS button and share simultaneously for more than 10 second, and check whether the controller is blinking. If the led of controller turns to blue than the connection is activated.

Option: start sixad on boots

edit /etc/rc.local, and add following description before exit 0

ds4drv 

Common commands:

the different key bounds of dualshock4 are:

• share in dualshock4 = start in dualshock3
• options in dualshock4 = select in dualshock3

different commands:

command	action
share	motor arming (please do this before takeoff)
options (short push)	force landing (without xy position control, robot will descend slowly)
options (long push, > 2.0s)	halt (i.e. stop motor immediately )

For more information about ps4joy in ros, please check here