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| Because this package can be used independently of ROS by people wishing to use a PS3 joystick in linux, I am providing a [[https://code.ros.org/gf/project/ros-pkg/scmsvn/?action=browse&path=%2F%2Acheckout%2A%2Fstacks%2Fjoystick_drivers%2Ftags%2Flatest%2Fps3joy%2Fps3joy.py|direct link]] to the driver here. In order to run this python file, you will have to have the following system dependencies installed: python, bluez, python-bluez, joystick, libusb-dev. Please report any problems you have with this driver to blaise@willowgarage.com . |
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Package Summary
Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Author: Blaise Gassend and pascal@pabr.org
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers/tags/joystick_drivers-1.4.2
Package Summary
Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Author: Blaise Gassend, pascal@pabr.org, and Melonee Wise
- License: BSD
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/joystick_drivers/branches/electric_devel
Package Summary
Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Author: Blaise Gassend, pascal@pabr.org, and Melonee Wise
- License: BSD
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: joystick_drivers-1.8)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: joystick_drivers-1.9)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: hydro-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: indigo-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: developed
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: melodic-devel)
Package Summary
Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver. Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3 joysticks. In its current state, this driver is not compatible with the use of other Bluetooth HID devices. The driver listens for a connection on the HID ports, starts the joystick streaming data, and passes the data to the Linux uinput device so that it shows up as a normal joystick.
- Maintainer status: maintained
- Maintainer: Jonathan Bohren <jbo AT jhu DOT edu>
- Author: Blaise Gassend, pascal@pabr.org, Melonee Wise
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/joystick_drivers/issues
- Source: git https://github.com/ros-drivers/joystick_drivers.git (branch: main)
Contents
Overview
This package provides a driver for the PS3 (SIXAXIS or DUALSHOCK3) bluetooth joystick. This joystick is currently used with the Alpha2 PR2 and is intended to be used with the Beta PR2. The package also provides a rosnode for teleoperation of the head, spine, and base of the PR2.
This driver exists because Linux's native support for the PS3 joystick is unreliable, and does not give access to the joystick's accelerometers and gyroscope. This driver solves both problems. However in its current form, this driver will not coexist with any other bluetooth device. In future releases, we plan to allow first non-HID and later any bluetooth device to coexist with this driver. If you have a need for such functionality, let it be known.
Hardware Support
This driver may only work with Bluetooth 2.0 adapters.
In our experience, the driver does not work properly with the Linksys USBBT100 version 2, a Bluetooth 1.1 adapter. All of the other Bluetooth adapters we tried, and that were recognized by Linux, worked with this package. Please report other incompatible Bluetooth adapters to blaise@willowgarage.com .
API Stability
We do not anticipate any incompatible changes to the API of this package. With maturing support for the PS3 joystick in BlueZ and the in the Linux kernel, we hope that most people will no longer need this package unless they want to use the gyroscope and accelerometer axes.
Getting Started
The How to Pair the PS3 Joystick with a Bluetooth Dongle is a good starting point for how to use this package.
ROS API
This package does not contain any ROS nodes. Simply run ps3joy.py as root to make the PS3 joystick show up as a Linux joystick that can then be used in ROS via the joy_node.
PS3 Joystick Buttons and Axes
Buttons 4-15 are reported as axes as well as buttons. The axis corresponding to a button can be used to determine how hard the user is pressing on the button, ranging from 1 when there is no press, to -1 for a hard press. For these buttons, the axis number is the same as the button number.
ps3joy.py also exposes the joystick's three-axis accelerometer and the single-axis gyroscope:
Axis |
Description |
16 |
Right-Left (positive is left) |
17 |
Forward-Backward (positive is forward) |
18 |
Up-Down (positive is up) |
19 |
Yaw axis (positive is clockwise) |
Direct Download Link
Because this package can be used independently of ROS by people wishing to use a PS3 joystick in linux, I am providing a direct link to the driver here. In order to run this python file, you will have to have the following system dependencies installed: python, bluez, python-bluez, joystick, libusb-dev. Please report any problems you have with this driver to blaise@willowgarage.com .
