PlayStation-JoyInterface-ROS2

PlayStation Joy Controller Interface Package for ROS2.

Supported controllers

Status	Hardware Name
✔️	`DualShock3`
✔️	`DualShock4`
✔️	`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::joy to 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