melodic ds4 joy - Utagoe-robotics/Wiki GitHub Wiki

Twist Publisher with Dualshock 4

Almost all robots subscribe /cmd_vel topic whose message type is Twist for controlling robots.

Here we demonstrate how to publish Twist message to /cmd_vel using Dualshock 4 which is an official controller of PlayStation 4.

Required ROS Packges (installed by default)

Optional

Edit File

- /opt/ros/melodic/share/teleop_twist_joy/
    - config/
        - ds4.config.yaml
    - launch/
        - ds4_teleop.launch

ds4.config.yaml

axis_linear: 1
scale_linear: 0.7
scale_linear_turbo: 1.0

axis_angular: 0
scale_angular: 1

enable_button: 1  # L2 shoulder button
enable_turbo_button: 0  # L1 shoulder button

ds4_teleop.launch

<launch>
  <arg name="joy_config" default="ds4" />
  <arg name="joy_dev" default="/dev/input/js0" />
  <arg name="config_filepath" default="$(find teleop_twist_joy)/config/$(arg joy_config).config.yaml" />
  
  <node pkg="joy" type="joy_node" name="joy_node">
    <param name="dev" value="$(arg joy_dev)" />
    <param name="deadzone" value="0.3" />
    <param name="autorepeat_rate" value="20" />
  </node>

  <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
    <rosparam command="load" file="$(arg config_filepath)" />
  </node>
</launch>
⚠️ **GitHub.com Fallback** ⚠️