Look at our better library! -> HarvestX/PlayStation-JoyInterface-ROS2

Library for ROS2 that guarantees compatibility in variables of PS controllers of each generation. For SONY(R) Dualshock3, Dualshock4, Dualsense(For PS5)

Note Please check your Ubuntu 20.04 kernel version >= 5.13 for playstation HID with following command.

uname -r

• ps_ros2_common
  • Differenes in joysticks of each generation
  • Button layout & handling (FOR ROS2)
    • DUALSHOCK3
    • DUALSHOCK4
    • DUALSENSE
  • How to connect? (Wireless)
    • DUALSHOCK4 & Dualsense(Wireless)
    • DUALSHOCK3(Wireless)
  • How to remove or disable connection?
  • Library usage
    • Tutorial
    • Using the library
  • For contributors
  • License
  • Other my contents

• The touch-pad button is similar to the touchpad on a laptop PC. (Not used for Joy-node.)

• The touch-pad button is similar to the touchpad on a laptop PC. (Not used for Joy-node.)

• Assuming Ubuntu 20.04 LTS and ROS-Foxy. Target computer has to have Bluetooth.

1. Open "Settings->Bluetooth".

2. Click the target "Wireless Controller" to setup. (Connection is created automatically.)

3. Created connection.

1. Connect Dualshock3 and Target Computer by USB.
2. Push Dualshock3's "PS button".
3. Open "Settings->Bluetooth".
4. Select Dualshock3 Device to create Bluetooth connection.

1. Open "setting->Bluetooth".

2. (Disconnect the target joystick) : Turn off "Connection" status.

3. (Remove the target joystick) : Click "Remove Device -> Remove Device".

• This tutorial assumes you have ros-foxy-desktop (Ubuntu20.04LTS) and some tools installed.

$ cd ~
$ sudo apt install -y ros-foxy-joy*
$ mkdir -p ros2_ws/src/
$ cd ros2_ws/src/
$ git clone https://github.com/Ar-Ray-code/ps_ros2_common.git
$ cd ~/ros2_ws/
$ source /opt/ros/foxy/setup.bash
$ colcon build
$ source install/local_setup.bash

• Run example.

## Terminal 1
$ ros2 run joy joy_node

## Terminal 2
$ ros2 run ps_ros2_common joy_test

## Terminal 3
$ ros2 topic echo /output

When you connect your target controller to "/dev/input/js0", you can check "/output" topic! 😄🎮

If you want to use Dualshock4 or Dualsense, rewrite the first line of "src/example_joy.cpp".

#include "joy/ps_base.hpp"
#define JOY_VERSION PS3
##                   ^ PS3 or PS4 or PS5 (Comment)

#include <example_interfaces/msg/int32.hpp>

#if JOY_VERSION == PS5
    #include "joy/ps5.hpp"
    using namespace ps5;
#elif JOY_VERSION == PS4
    #include "joy/ps4.hpp"
    using namespace ps4;
#elif JOY_VERSION == PS3
    #include "joy/ps3.hpp"
    using namespace ps3;
#endif

...

View this repository folder map. If you will use this library, you have to copy "include/joy/*" and write the PATH.

"ps3.hpp"and"ps4.hpp","ps5.hpp" is for override "ps_base.hpp"'s' functions.

The following is a simple sample program.

#include "joy/ps_base.hpp"
#define JOY_VERSION PS3

#if JOY_VERSION == PS5
    #include "joy/ps5.hpp"
    using namespace ps5;
#elif JOY_VERSION == PS4
    #include "joy/ps4.hpp"
    using namespace ps4;
#elif JOY_VERSION == PS3
    #include "joy/ps3.hpp"
    using namespace ps3;
#endif

class example_joy:public rclcpp::Node, public ps
{
    public:
        void sub_joy_thread(const sensor_msgs::msg::Joy::SharedPtr msg)
        {
            get_data(msg);

            std::system("clear");
            std::cout << "square_btn:" << square_btn << std::endl;
			// Write your code !
        }

        example_joy(const std::string name, const rclcpp::NodeOptions & options):Node(name, options)
        {
            sub_joy = this->create_subscription<sensor_msgs::msg::Joy>("/joy", 1, std::bind(&ps::sub_joy_thread, this, std::placeholders::_1));
        }
};

int main(int argc, char** argv)
{
    rclcpp::init(argc, argv);
    rclcpp::NodeOptions options;
    auto node = std::make_shared<example_joy>("joy_test",options);

    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

Methods

• ps_base::ps_base()
  • Initialize ps_base class.
• virtual void ps_base::get_data(const sensor_msgs::msg::Joy::SharedPtr msg)=0
  • Assign the data of "sensor_msgs::msg::Joy" to the member variable.
• virtual void ps_base::sub_joy_thread(const sensor_msgs::msg::Joy::SharedPtr msg)
  • Callback function. You can override it.
• void ps_base::btn2d_pad()
  • About the D-pad , handling button data to axis data.
• void ps_base::d_pad2btn()
  • About the D-pad , handling axis data to button data.
• void ps_base::init_data()
  • Initialize members.

Members

• rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr sub_joy

• bool up_btn

• bool down_btn

• bool right_btn

• bool left_btn

• bool square_btn

• bool square_btn

• bool circle_btn

• bool triangle_btn

• bool cross_btn

• bool L1_btn

• bool R1_btn

• bool select_btn

• bool start_btn

• bool PS_btn

• bool share_btn

• bool options_btn

• bool create_btn

• bool R2_btn

• bool L2_btn

• float R2

• float L2

• float d_pad_x

• float d_pad_y

• float joy_left_x

• float joy_left_y

• float joy_right_x

• float joy_right_y

• If you use other Joy controllers, write a program similar to "include/joy/ps5.hpp". And if you have the opportunity, please contribute to this repository! 🎮
• I am a student and a beginner in the program. 👨‍🎓 If you have a better suggestion, please give me your ideas.

• Apache License 2.0 : https://github.com/Ar-Ray-code/ps_ros2_common/blob/main/LICENSE

• Twitter : https://twitter.com/Ray255Ar
• BLOG(JP) : https://ar-ray.hatenablog.com/