Merge pull request ros-drivers#110 from honeybee-robotics-forks/indig…

…o-devel

Adding additional documentation to ps3joy

ps3joy/README.md

@@ -6,6 +6,7 @@ This driver provides a more reliable connection, and provides access to the joys
 
 Additional documentation:
 
+ * [Troubleshooting](doc/troubleshooting.md)
  * [Testing Instructions](doc/testing.md)
  * [Bluetooth Device Compatibility](doc/bluetooth_devices.md)
 
@@ -67,6 +68,33 @@ rostopic echo joy
   jstest /dev/input/js?
   (replace ? with the name of your joystick)
 
+## Command-line Options 
+
+### ps3joy.py
+
+```
+usage: ps3joy.py [--inactivity-timeout=<n>] [--no-disable-bluetoothd] [--redirect-output] [--continuous-output]=<f>
+<n>: inactivity timeout in seconds (saves battery life).
+<f>: file name to redirect output to.
+``` 
+
+`--inactivity-timeout` 
+  This may be useful for saving battery life and reducing contention on the 2.4 GHz network.Your PS3 controller 
+  will shutdown after a given amount of time of inactivity.  
+
+`--no-disable-bluetoothd` 
+   ps3joy.py will not take down bluetoothd. Bluetoothd must be configured to not handle input device, otherwise
+   you will receive an error saying "Error binding to socket". 
+
+`--redirect-output`
+   This can be helpful when ps3joy.py is running in the backgound. This will allow the standard output
+   and error messages to redirected into a file.   
+
+`--continuous-output`
+   This will output continuous motion streams and as a result this will no longer leave extended periods of 
+   no messages on the /joy topic. ( This only works for ps3joy.py. Entering this parameter in ps3joy_node.py will
+   result in the parameter being ignored.)
+
 ## Limitations
 
 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. The following devices do coexist:

ps3joy/doc/bluetooth_devices.md

@@ -1,11 +1,12 @@
 
 ## Bluetooth Device Compatibility
 
-This driver works with most 2.x Bluetooth adapters. Please report other compatible and incompatible Bluetooth adapters through a pull request to this page.
+This driver works with most 2.x Bluetooth adapters.This driver should also work with 3.0 and 4.0 Bluetooth adapters.
+Please report other compatible and incompatible Bluetooth adapters through a pull request to this page.
 
 ### Adapters that are known to work
 
-* 
+* Cambridge Silicon Radio, Ltd Bluetooth Dongle (Bluetooth 4.0) 
 
 ### Adapters that are known not to work
 

ps3joy/doc/testing.md

@@ -1,4 +1,4 @@
-# Testing procedures for the ps3joy package # 
+ # Testing procedures for the ps3joy package # 
 
 ## Pairing the ps3 controller via bluetooth ##
 If the controller is not paired to the bluetooth dongle connect 
@@ -148,7 +148,15 @@ rostopic echo joy
 ``` 
 You should see the input data dipslayed on your terminal. 
 
-## Shutting down the ps3 joystick ##
+## Recharging the PS3 joystick 
+1. Have an available USB port on a computer, and the computer must be on while the joystick is
+   charging. 
+
+2. Connect the PS3 joystick to a computer using an A to mini-B USB cable. 
+
+3. The LEDs on the joystick should blink at about 1Hz to indicate the the joystick is charging.
+
+## Shutting down the ps3 joystick
 There are two ways to turn of the ps3 joystick   
 1. Press and hold the pairing button on the joystick for approximately 10 seconds
 

ps3joy/doc/troubleshooting.md

@@ -0,0 +1,54 @@
+## Troubleshooting ##
+-------------------------
+#### Issues pairing the PS3 joystick ####
+When pairing your joystick via bluetooth, you may recieve the following message on
+your terminal:  
+```
+Current Bluetooth master: 00:15:83:ed:3f:21
+Unable to retrieve local bd_addr from `hcitool dev`.
+Please enable Bluetooth or specify an address manually.
+``` 
+This would indicate that your bluetooth is disabled. To enable your bluetooth, try the 
+following: 
+
+1. Check the status of your bluetooth by entering the following: 
+``` 
+sudo systemctl status bluetooth
+``` 
+You may see something like this: 
+
+```
+● bluetooth.service - Bluetooth service
+   Loaded: loaded (/lib/systemd/system/bluetooth.service; disabled; vendor preset: enabled)
+   Active: inactive (dead)
+     Docs: man:bluetoothd(8)
+```
+
+If you do, that means your bluetooth service is disabled. Turn enable it enter 
+```
+sudo systemctl start bluetooth
+sudo systemctl status bluetooth  
+```
+After running these commands your bluetooth service should be up and running: 
+
+```
+● bluetooth.service - Bluetooth service
+   Loaded: loaded (/lib/systemd/system/bluetooth.service; disabled; vendor preset: enabled)
+   Active: active (running) since Thu 2017-06-29 16:21:43 EDT; 16s ago
+     Docs: man:bluetoothd(8)
+ Main PID: 27362 (bluetoothd)
+   Status: "Running"
+   CGroup: /system.slice/bluetooth.service
+           └─27362 /usr/local/libexec/bluetooth/bluetoothd
+```
+Retry the commands that were mentioned in step 2 for pairing the PS3 joystick. 
+
+2. Run the following command: 
+``` 
+hciconfig hci0 reset 
+``` 
+followed by: 
+```
+sudo bash 
+rosrun ps3joy sixpair
+```