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The ps4 gamepad should work with http://wiki.ros.org/joy in at least usb wired mode, otherwise bluetooth needs to be set up with your pi.
Some of these instructions https://github.com/solbach/ps4-ros regarding ds4drv should help with running bluetooth (not sure if working that on a pi is different- there are posts in forums elsewhere from people using a ps4 controller to connect to a pi to play games that could help). The actual code in that github repository maybe is a useful example, but not probably not necessary for your robot (it looks specific to someone else's custom robot).
Maybe this https://lifehacker.com/everything-you-need-to-set-up-bluetooth-on-the-raspberr-1768482065 is still relevant but it could be easier/different now.
http://wiki.ros.org/teleop_twist_joy converts joy messages to messages you could design your robot to be able to drive with, or you could make a custom node that translates joy messages to something that works for you.
Rumble/vibration feedback #q281388
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