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

1. 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);

2. 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