ds4_driver

DualShock 4 driver for ROS2 dashing.

Features

• Get information such as IMU, battery, and touchpad from your DualShock 4.
• Use feedback such as rumble, LED color, and LED flash via ROS topics.
• Connect to your controller via Bluetooth.

Usage

This driver depends on ds4drv. Some features of this driver depend on pull requests have not yet been merged upstream. Until they are merged, use naoki-mizuno/ds4drv (devel branch).

$ git clone https://github.com/naoki-mizuno/ds4drv --branch devel
$ cd ds4drv
$ python2 setup.py install --prefix ~/.local
$ sudo cp 50-ds4drv.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

Note: If you want to prevent the touchpad from being recognized as an input device, add the following to the udev rules and run the udevadm commands (you will still be able to use the touchpad from this driver):

SUBSYSTEM=="input", ATTRS{name}=="*Wireless Controller Touchpad", RUN+="/bin/rm %E{DEVNAME}", ENV{ID_INPUT_JOYSTICK}=""

Compile and source this package just like any other ROS package. To run,

$ ros2 run ds4_driver ds4_driver_node.py

Topics

Published

• /status (ds4_driver/Status): current state of the device.

Subscribed

• /set_feedback (ds4_driver/Feedback): feedback for the device such as LED color, rumble, and LED flash.

Note: To disable flash, send message with set_led_flash: true and led_flash_off: 0.

License

MIT

Author

Original: Naoki Mizuno ([email protected]) Modify: sss22213 ([email protected])