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PS3コントローラ (DUALSHOCK3; SIXAXIS)をROSに接続する(無線編)

Last updated at Posted at 2016-07-30

導入

以下の「2.ペアリング」の手順1〜12を行う。

PS3を使ったTurtlebotのテレオペレーション

動作確認

ターミナルで

$ roscore

コントローラのPSボタンを長押しする。振動したらPCへの接続が完了。
別のターミナルで

$ rosrun joy joy_node

更に別のターミナルでTopicを確認してみる。

$ rostopic echo -c /joy
header: 
  seq: 1449
  stamp: 
    secs: 1469884038
    nsecs: 749963493
  frame_id: ''
axes: [0.0, 0.0, -0.0, -0.0, -0.04303591698408127, 0.11965344101190567, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

Rasberry Pi3 (Ubuntu Mate)の場合

sixadのリポジトリが利用できないため以下の「For older versions of RetroPie」のように自力ビルドが必要
Setting up a PS3 controller

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