ds4ros
Wrapper for ds4drv to use with ROS.
Installation
Install ds4drv: sudo -H pip install git+https://github.com/gerardcanal/ds4drv (My fork is based on a fork that has some fixes for the led colors)
Set up the permissions as specified (here)[https://github.com/chrippa/ds4drv#permissions].
Usage
You can use it either as a ROS node and supply a config file, or just use it as ds4drv with rosrun.
Example: rosrun ds4ros ds4drv_wrapper.py --hidraw --led 00ff00
The node only supports one controller at a time.
ROS Services
-
ds4_ros/connect
std_srvs/Empty Connects to a controller -
ds4_ros/disconnect
std_srvs/Empty Disconnects a controller (keeps waiting for reconnection) -
ds4_ros/is_connected
ds4ros/IsConnected Checks if a controller is connected -
ds4_ros/set_color
ds4ros/SetColor Sets the lightbar to the specified RGB color -
ds4_ros/battery_status
ds4ros/BatteryStatus Returns the status of the battery of the controller (charge and plugged). -
ds4_ros/flash
ds4ros/StartFlash Sets the flashing of the LED light -
ds4_ros/stop_flash
std_srvs/Empty Stops the flashing of the LED -
ds4_ros/rumble
ds4ros/Rumble Activates the controller rumble motors -
ds4_ros/stop_rumble
std_srvs/Empty Stops the rumble