Include(Menus/JoystickDriversStack)

RosdocHeader(ps3joy)

TableOfContents(4)

Package Summary

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. It also provides a rosnode for teleoperation of the head, spine, and base of the PR2.

PS3 Joystick Buttons and Axes

The PS3 joystick is controlled by the ["joy"]/ps3_joy node. The node maps the axes and buttons of the PS3 joystick as follows:

attachment:ps3_buttons.jpg

attachment:ps3_axes.jpg

Additional axes are the inertial sensors, and are not currently supported.

Connecting the PS3 joystick

To connect the joystick to your robot/computer, you will have to mate the joystick to the onboard Bluetooth receiver. Next, open the connection to the joystick from the robot. On pre1,

roscd ps3joy
sudo bash
./ps3joy.py

Then press the center "PS" button on the joystick. This will connect it to the robot. Leave this program running.

Now, launch the joystick. On pre1:

roscd ps3joy
roslaunch ps3.launch

Tutorials

FullSearch(title:"ps3joy/Tutorials/") See ["PR2/Demos/teleop ps3"]

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