ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
playstation-joyinterface-ros2 repositoryhardware deb common ros2 p9n p9n_bringup p9n_example p9n_interface p9n_node p9n_test |
Repository Summary
| Description | PlayStation Joy Controller Interface Package for ROS2 |
| Checkout URI | https://github.com/harvestx/playstation-joyinterface-ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-02-29 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | hardware deb common ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| p9n | 1.1.2 |
| p9n_bringup | 1.1.1 |
| p9n_example | 1.1.1 |
| p9n_interface | 1.1.0 |
| p9n_node | 1.0.3 |
| p9n_test | 1.1.1 |
README
PlayStation-JoyInterface-ROS2
PlayStation Joy Controller Interface Package for ROS2.
Supported controllers
| Status | Hardware Name |
|---|---|
| :heavy_check_mark: | DualShock3 |
| :heavy_check_mark: | DualShock4 |
| :heavy_check_mark: | DualSense |
Repository Status
| ROS2 Distro | Branch | Build status |
|---|---|---|
| galactic | galactic |
 |
| humble | humble |
 |
How to use the interface library
- Initialize controller interface with the specific hardware type.
// Initialize Interface
const std::string hw_name = "DualSense";
const auto hw_type = p9n_interface::getHwType(hw_name);
ps_interface =
std::make_unique<p9n_interface::PlayStationInterface>(hw_type);
- Set
sensor_msg::msg::joyto interface. Then you can access any button state via the interface.
void Example::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) {
ps_interface->setJoyMsg(joy_msg); // set joy message to interface
// When Circle Button Pressed..
if(ps_interface->pressedCircle()) {
// You can hook action here
...
Buttons and Interface functions.
| Target | Type | Function Name | Description |
|---|---|---|---|
| Any | bool |
pressedAny(); |
Return true when pressed |
| □ | bool |
pressedSquare(); |
|
| ○ | bool |
pressedCircle(); |
|
| □ | bool |
pressedTriangle(); |
|
| ☓ | bool |
pressedCross(); |
|
| L1 | bool |
pressedL1(); |
|
| R1 | bool |
pressedR1(); |
|
| R2 | bool |
pressedR2(); |
pressedR2Analog() also returns the button status with float
|
| L2 | bool |
pressedL2(); |
pressedL2Analog() also returns the button status with float
|
| Select | bool |
pressedSelect(); |
|
| Start | bool |
pressedStart(); |
|
| PS | bool |
pressedPS(); |
|
| DPad ↑ | bool |
pressedDPadUp(); |
pressedDPadY() also returns the button status with float
|
| DPad ↓ | bool |
pressedDPadDown(); |
pressedDPadY() also returns the button status with float
|
| DPad ← | bool |
pressedDPadLeft(); |
pressedDPadX() also returns the button status with float
|
| DPad → | bool |
pressedDPadRight(); |
pressedDPadX() also returns the button status with float
|
| DPad ← → | float |
pressedDPadX(); |
-1.0 : Right, 1.0 : Left |
| DPad ↑ ↓ | float |
pressedDPadY(); |
-1.0 : Down, 1.0 : Up |
| Left Stick ← → | float |
tiltedStickLX(); |
-1.0 : Right, 1.0 : Left |
| Left Stick ↑ ↓ | float |
tiltedStickLY(); |
-1.0 : Down, 1.0 : Up |
| Left Stick | bool |
isTiltedL(); |
Return true when L stick is tilted |
| Right Stick ← → | float |
tiltedStickRX(); |
-1.0 : Right, 1.0 : Left |
| Right Stick ↑ ↓ | float |
tiltedStickRY(); |
-1.0 : Down, 1.0 : Up |
| Right Stick | bool |
tiltedStickRY(); |
Return true when R stick is tiled |
| R2 | float |
pressedR2Analog(); |
-1.0 : Pressed, 1.0 : Not pressed |
| L2 | float |
pressedL2Analog(); |
-1.0 : Pressed, 1.0 : Not pressed |
Convert from Left Joy Stick to cmd_vel
teleop_twist_joy_node has cmd_vel publisher.
Velocity is decided as below.
Acknowledgements
We acknowledge attribute and gratitude to the following resources in creating this package.
- ps_ros2_common by @Ar-Ray-code
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.