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I've had some issues with the stock Linux kernel that ships with Ubuntu 18.04 in the past, specifically its bluetooth device drivers for the PS4 DS4 controller. I don't recall any issues using it via USB, but that's hardly practical when using it to tele operate a mobile robot without a second computer.
For what it's worth, the stock kernel shipped with Ubuntu 20.04 is a lot more stable with the DS4, and joy_node released into foxy seems to work out of the box, both bluetooth and USB:
$ ros2 run joy joy_node
[INFO] [1600804025.194521913] [joy_node]: Opened joystick: Sony Computer Entertainment Wireless Controller. deadzone: 0.050000
^C[INFO] [1600804101.562256221] [rclcpp]: signal_handler(signal_value=2)
$ ros2 run joy joy_node
[INFO] [1600804160.446296839] [joy_node]: Opened joystick: Wireless Controller. deadzone: 0.050000
^C[INFO] [1600804280.166092944] [rclcpp]: signal_handler(signal_value=2)
The only caveat is that the stock kernel module for the DS4 with Ubuntu 20.04 doesn't seem to report the:
That said, even using bluetooth can be kind of flaky, with the /dev/joyX device unmounting whenever connection is lost, potentially for any program not accounting for hot swappable input devices. An alternative could be to use wireless controller with a simple USB dongle. Some examples:
| | 2 | No.2 Revision |
I've had some issues with the stock Linux kernel that ships with Ubuntu 18.04 in the past, specifically its bluetooth device drivers for the PS4 DS4 controller. I don't recall any issues using it via USB, but that's hardly practical when using it to tele operate a mobile robot without a second computer.
For what it's worth, the stock kernel shipped with Ubuntu 20.04 is a lot more stable with the DS4, and joy_node released into foxy seems to work out of the box, both bluetooth and USB:
$ ros2 run joy joy_node
[INFO] [1600804025.194521913] [joy_node]: Opened joystick: Sony Computer Entertainment Wireless Controller. deadzone: 0.050000
^C[INFO] [1600804101.562256221] [rclcpp]: signal_handler(signal_value=2)
$ ros2 run joy joy_node
[INFO] [1600804160.446296839] [joy_node]: Opened joystick: Wireless Controller. deadzone: 0.050000
^C[INFO] [1600804280.166092944] [rclcpp]: signal_handler(signal_value=2)
The only caveat is that the stock kernel module for the DS4 with Ubuntu 20.04 doesn't seem to report the:
That said, even using bluetooth can be kind of flaky, with the /dev/joyX/dev/input/jsX
https://www.logitechg.com/en-us/products/gamepads/f710-wireless-gamepad.940-000117.html
Also, check that your using the correct device number for the connected controller, e.g. setting the parameter for /dev/input/jsX. If left unspecified, ros_joy will use the first available device number. With linux, some laptops can have the js0 device associated to the fall detection accelerometer, for stopping/locking older HDD before impact. So that could account for the sensor output discrepancy.
https://askubuntu.com/questions/585706/deactivate-accelerometer
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