ps3手柄与ros

英文网页：http://wiki.ros.org/ps3joy/Tutorials/PairingJoystickAndBluetoothDongle

1 有线插入手柄，配对ps3与蓝牙bluetooth 自带的蓝牙或外接蓝牙都可以，必须在root权限下进行

ll /dev/uinput 检查是否有js0
sudo bash
rosrun ps3joy sixpair
2  测试手柄

sudo bash
rosrun ps3joy ps3joy.py
拔下有线口，按下手柄配对键，要求：必须有uinput模块，否则失败测试
sudo jstest /dev/input/js0
按下任意按钮，对应数字变化
3 例子 手柄控制乌龟
下载开源包https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers_tutorials/trunk/turtle_teleop/
launch文件：

 

   
   
   
   
<launch>
  3
  4  <!-- Turtlesim Node-->
  5   <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
  6
  7 <!-- PS3 joy node -->
  8   <node respawn="true" pkg="ps3joy" type="ps3joy.py" name="PS3_turtle_joy" o    utput="screen" />
  9
 10  <!-- joy node -->
 11   <node respawn="true" pkg="joy"
 12         type="joy_node" name="turtle_joy" >
 13     <param name="dev" type="string" value="/dev/input/js0" />
 14     <param name="deadzone" value="0.12" />
 15   </node>
 16
 17  <!-- Axes -->
 18   <param name="axis_linear" value="1" type="int"/>
 19   <param name="axis_angular" value="0" type="int"/>
 20   <param name="scale_linear" value="2" type="double"/>
 21   <param name="scale_angular" value="2" type="double"/>
3   <node pkg="turtle_teleop" type="turtle_teleop_joy" name="teleop"/>
 24
 25 </launch>
开启了乌龟节点turtlesim，手柄驱动节点ps3joy和joy，按键转换成cmd消息节点turtle_teleop
分别通过察看: sudo jstest/dev/input/js0 手柄是否已经驱动
rostopic echo /joy joy节点是否正常
rostopic echo/cmd_vel 速度信息是否正常转换
 4  加入到已有launch文件中
     
     
     
     
<!-- PS3 joy node -->
 8   <node respawn="true" pkg="ps3joy" type="ps3joy.py" name="PS3_turtle_joy" o    utput="screen" />
 9
10  <!-- joy node -->
11   <node respawn="true" pkg="joy"
12         type="joy_node" name="turtle_joy" >
13     <param name="dev" type="string" value="/dev/input/js0" />
14     <param name="deadzone" value="0.12" />
15   </node>