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1.  Installing Drivers for Computer -- [New PC] Install ROS Joystick drivers: sudo apt-get install ros-groovy-joystick-drivers Make sure dependencies are installed: rosdep update rosdep install ps3joy

2.  Pairing Controller with New PC -- [New PC for Controller, or switch PCs] Set Controller’s target to this PC’s Bluetooth Address: Plug PS3 into computer using USB cable. sudo ./init.sh rosrun ps3joy sixpair

3.  Connecting Bluetooth Controller for Use -- [Each Session] In a background terminal, run joystick connection/driver: sudo ./init.sh <baxter> rosrun ps3joy ps3joy.py Activate connection: Press ‘Playstation’ Pairing Button on Controller (unplugged). Lights will start flashing rapidly and terminal will say Connection is Activated. Leave terminal / program running in background. Controller will now show up as /dev/input/js*. Can now be run like normal joystick.

4.  Running Examples with a PS3 Controller Run joystart script for examples like normal, using ‘ps3’ mapping argument, e.g: rosrun joint_position joystart ps3