ps_ros2_common

Look at our better library! -> HarvestX/PlayStation-JoyInterface-ROS2

Library for ROS2 that guarantees compatibility in variables of PS controllers of each generation. For SONY(R) Dualshock3, Dualshock4, Dualsense(For PS5)

Note Please check your Ubuntu 20.04 kernel version >= 5.13 for playstation HID with following command.

uname -r

Table of contents (Click to jump to "main branch")

ps_ros2_common

Differences in joysticks of each generation

Name	DUALSHOCK3	DUALSHOCK4	DUALSENSE
Model number	CECHZC2xxx	CUH-ZCT1(2)	CFI-ZCT1J
Weight[g]	193	210	280
Battery	Lithium-ion 610?[mAh]	Lithium-ion 1000[mAh]	Lithium-ion 1560[mAh]
Dimensions[mm]	160x55x97	161x57x100	160x66x106
Bluetooth Connection	Bluetooth Ver 2.0?	Bluetooth Ver 2.1	Bluetooth Ver 5.1
USB Connection	Mini USB Type-B	micro USB Type-B	Type-C

Button layout & handling (FOR ROS2)

DUALSHOCK3

Button (Joy) name	joy-msgs (sensor_msgs/msg/joy)	Handling with "joy/ps3.h"
Cross btn	buttons[0]	cross_btn
Circle btn	buttons[1]	circle_btn
Triangle btn	buttons[2]	triangle_btn
Square btn	buttons[3]	square_btn
L1 btn	buttons[4]	L1_btn
R1 btn	buttons[5]	R1_btn
L2 analog	buttons[6], axes[2]	L2_btn, L2
R2 analog	buttons[7], axes[5]	R2_btn, R2
SELECT btn	buttons[8]	select_btn
SHARE btn	None	share_btn=buttons[8]
CREATE btn	None	create_btn=buttons[8]
START btn	buttons[9]	start_btn
OPTIONS btn	None	options_btn=buttons[9]
PS btn	buttons[10]	PS_btn
Up btn	buttons[13]	up_btn, d_pad_x
Down btn	buttons[14]	down_btn, d_pad_x
Left btn	buttons[15]	left_btn, d_pad_y
Right btn	buttons[16]	right_btn, d_pad_y
Joystick left x	axes[0]	joy_left_x
Joystick left y	axes[1]	joy_left_y
Joystick right x	axes[3]	joy_right_x
Joystick right y	axes[4]	joy_right_y

DUALSHOCK4

The touch-pad button is similar to the touchpad on a laptop PC. (Not used for Joy-node.)

Button (Joy) name	joy-msgs (sensor_msgs/msg/joy)	Handling with "joy/ps4.h"
Cross btn	buttons[0]	cross_btn
Circle btn	buttons[1]	circle_btn
Triangle btn	buttons[2]	triangle_btn
Square btn	buttons[3]	square_btn
L1 btn	buttons[4]	L1_btn
R1 btn	buttons[5]	R1_btn
L2 analog	buttons[6], axes[2]	L2_btn, L2
R2 analog	buttons[7], axes[5]	R2_btn, R2
SELECT btn	None	select_btn=buttons[8]
SHARE btn	buttons[8]	share_btn
CREATE btn	None	create_btn=buttons[8]
START btn	None	start_btn=buttons[9]
OPTIONS btn	buttons[9]	options_btn
PS btn	buttons[10]	PS_btn
Up btn	axes[6]= 1	up_btn, d_pad_x
Down btn	axes[6]= -1	down_btn, d_pad_x
Left btn	axes[7]= 1	left_btn, d_pad_y
Right btn	axes[7]= -1	right_btn, d_pad_y
Joystick left x	axes[0]	joy_left_x
Joystick left y	axes[1]	joy_left_y
Joystick right x	axes[3]	joy_right_x
Joystick right y	axes[4]	joy_right_y

Dualsense

The touch-pad button is similar to the touchpad on a laptop PC. (Not used for Joy-node.)

Button (Joy) name	joy-msgs (sensor_msgs/msg/joy)	Handling with "joy/ps5.h"
Cross btn	buttons[0]	cross_btn
Circle btn	buttons[1]	circle_btn
Triangle btn	buttons[2]	triangle_btn
Square btn	buttons[3]	square_btn
L1 btn	buttons[4]	L1_btn
R1 btn	buttons[5]	R1_btn
L2 analog	buttons[6], axes[2]	L2_btn, L2
R2 analog	buttons[7], axes[5]	R2_btn, R2
SELECT btn	None	select_btn=buttons[8]
SHARE btn	None	share_btn=buttons[8]
CREATE btn	buttons[8]	create_btn
START btn	None	start_btn=buttons[9]
OPTIONS btn	buttons[9]	options_btn
PS btn	buttons[10]	PS_btn
Up btn	axes[6]= 1	up_btn, d_pad_x
Down btn	axes[6]= -1	down_btn, d_pad_x
Left btn	axes[7]= 1	left_btn, d_pad_y
Right btn	axes[7]= -1	right_btn, d_pad_y
Joystick left x	axes[0]	joy_left_x
Joystick left y	axes[1]	joy_left_y
Joystick right x	axes[3]	joy_right_x
Joystick right y	axes[4]	joy_right_y

How to connect? (Wireless)

Assuming Ubuntu 20.04 LTS and ROS-Foxy. Target computer has to have Bluetooth.

Dualshock4 & Dualsense (Wireless)

Open "Settings->Bluetooth".
Click the target "Wireless Controller" to setup. (Connection is created automatically.)

Created connection.

Dualshock3 (Wireless)

Connect Dualshock3 and Target Computer by USB.
Push Dualshock3's "PS button".
Open "Settings->Bluetooth".
Select Dualshock3 Device to create Bluetooth connection.

How to remove or disable connection?

Open "setting->Bluetooth".
(Disconnect the target joystick) : Turn off "Connection" status.
(Remove the target joystick) : Click "Remove Device -> Remove Device".

Library usage

Tutorial

This tutorial assumes you have ros-foxy-desktop (Ubuntu20.04LTS) and some tools installed.

$ cd ~
$ sudo apt install -y ros-foxy-joy*
$ mkdir -p ros2_ws/src/
$ cd ros2_ws/src/
$ git clone https://github.com/Ar-Ray-code/ps_ros2_common.git
$ cd ~/ros2_ws/
$ source /opt/ros/foxy/setup.bash
$ colcon build
$ source install/local_setup.bash

Run example.

## Terminal 1
$ ros2 run joy joy_node

## Terminal 2
$ ros2 run ps_ros2_common joy_test

## Terminal 3
$ ros2 topic echo /output

When you connect your target controller to "/dev/input/js0", you can check "/output" topic! 😄🎮

If you want to use Dualshock4 or Dualsense, rewrite the first line of "src/example_joy.cpp".

#include "joy/ps_base.hpp"
#define JOY_VERSION PS3
##                   ^ PS3 or PS4 or PS5 (Comment)

#include <example_interfaces/msg/int32.hpp>

#if JOY_VERSION == PS5
    #include "joy/ps5.hpp"
    using namespace ps5;
#elif JOY_VERSION == PS4
    #include "joy/ps4.hpp"
    using namespace ps4;
#elif JOY_VERSION == PS3
    #include "joy/ps3.hpp"
    using namespace ps3;
#endif

...

Using the library

View this repository folder map. If you will use this library, you have to copy "include/joy/*" and write the PATH.

"ps3.hpp"and"ps4.hpp","ps5.hpp" is for override "ps_base.hpp"'s' functions.

The following is a simple sample program.

#include "joy/ps_base.hpp"
#define JOY_VERSION PS3

#if JOY_VERSION == PS5
    #include "joy/ps5.hpp"
    using namespace ps5;
#elif JOY_VERSION == PS4
    #include "joy/ps4.hpp"
    using namespace ps4;
#elif JOY_VERSION == PS3
    #include "joy/ps3.hpp"
    using namespace ps3;
#endif

class example_joy:public rclcpp::Node, public ps
{
    public:
        void sub_joy_thread(const sensor_msgs::msg::Joy::SharedPtr msg)
        {
            get_data(msg);

            std::system("clear");
            std::cout << "square_btn:" << square_btn << std::endl;
			// Write your code !
        }

        example_joy(const std::string name, const rclcpp::NodeOptions & options):Node(name, options)
        {
            sub_joy = this->create_subscription<sensor_msgs::msg::Joy>("/joy", 1, std::bind(&ps::sub_joy_thread, this, std::placeholders::_1));
        }
};

int main(int argc, char** argv)
{
    rclcpp::init(argc, argv);
    rclcpp::NodeOptions options;
    auto node = std::make_shared<example_joy>("joy_test",options);

    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

Class reference(ps_base.hpp)

Methods

ps_base::ps_base()
- Initialize ps_base class.
virtual void ps_base::get_data(const sensor_msgs::msg::Joy::SharedPtr msg)=0
- Assign the data of "sensor_msgs::msg::Joy" to the member variable.
virtual void ps_base::sub_joy_thread(const sensor_msgs::msg::Joy::SharedPtr msg)
- Callback function. You can override it.
void ps_base::btn2d_pad()
- About the D-pad , handling button data to axis data.
void ps_base::d_pad2btn()
- About the D-pad , handling axis data to button data.
void ps_base::init_data()
- Initialize members.

Members

rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr sub_joy
bool up_btn
bool down_btn
bool right_btn
bool left_btn
bool square_btn
bool square_btn
bool circle_btn
bool triangle_btn
bool cross_btn
bool L1_btn
bool R1_btn
bool select_btn
bool start_btn
bool PS_btn
bool share_btn
bool options_btn
bool create_btn
bool R2_btn
bool L2_btn
float R2
float L2
float d_pad_x
float d_pad_y
float joy_left_x
float joy_left_y
float joy_right_x
float joy_right_y

For contributors

If you use other Joy controllers, write a program similar to "include/joy/ps5.hpp". And if you have the opportunity, please contribute to this repository! 🎮
I am a student and a beginner in the program. 👨‍🎓 If you have a better suggestion, please give me your ideas.

License

Apache License 2.0 : https://github.com/Ar-Ray-code/ps_ros2_common/blob/main/LICENSE

Name		Name	Last commit message	Last commit date
Latest commit History 32 Commits
.github		.github
.vscode		.vscode
images_for_readme		images_for_readme
include/ps_ros2_common/joy		include/ps_ros2_common/joy
launch		launch
src		src
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
package.xml		package.xml

License

Ar-Ray-code/ps_ros2_common

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ps_ros2_common

Table of contents (Click to jump to "main branch")

Differences in joysticks of each generation

Button layout & handling (FOR ROS2)

DUALSHOCK3

DUALSHOCK4

Dualsense

How to connect? (Wireless)

Dualshock4 & Dualsense (Wireless)

Dualshock3 (Wireless)

How to remove or disable connection?

Library usage

Tutorial

Using the library

Class reference(ps_base.hpp)

For contributors

License

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