"Unknown joystick" exception for teleop in MoveIT

edit

Probably you have some missing parameters in your launch file while you are running the joy node. Those parameters are introduced under <(!)-- Launch joy node --> comment. What you may fastly do here, just delete the whole node section and try this one instead:

<node pkg="joy" type="joy_node" name="ps3_joy" output="screen" >
  <param name="dev" type="string" value="/dev/input/js0" />
  <param name="deadzone" value="0.12" />
</node>

<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
  <!-- Load the file you made above -->
  <rosparam command="load" file="$(find ps3joy)/diagnostics.yaml" />
</node>

just be careful that you directed your joystick path in value="/dev/input/js0". - you already mentioned that works, though.

Edit for the class:

class PS3Status(JoyStatus):
    def __init__(self, msg):
        JoyStatus.__init__(self)
        # creating from sensor_msgs/Joy
        if msg.buttons[0] == 1:
            self.cross = True
        else:
            self.cross = False
        if msg.buttons[1] == 1:
            self.circle = True
        else:
            self.circle = False
        if msg.buttons[2] == 1:
            self.triangle = True
        else:
            self.triangle = False
        if msg.buttons[3] == 1:
            self.square = True
        else:
            self.square = False
        if msg.buttons[4] == 1:
            self.L1 = True
        else:
            self.L1 = False
        if msg.buttons[5] == 1:
            self.R1 = True
        else:
            self.R1 = False
        if msg.buttons[6] == 1:
            self.L2 = True
        else:
            self.L2 = False
        if msg.buttons[7] == 1:
            self.R2 = True
        else:
            self.R2 = False
        if msg.buttons[8] == 1:
            self.select = True
        else:
            self.select = False
        if msg.buttons[9] == 1:
            self.start = True
        else:
            self.start = False
        if msg.buttons[10] == 1:
            self.center = True
        else:
            self.center = False
        self.left_analog_x = msg.axes[0]
        self.left_analog_y = msg.axes[1]
        self.right_analog_x = msg.axes[3]
        self.right_analog_y = msg.axes[4]

        self.orig_msg = msg

Also, do not forget to change in the if statement where the module decides which joystick is it:

#elif len(msg.axes) == 20 and len(msg.buttons) == 17: -- this goes
elif len(msg.axes) == 6 and len(msg.buttons) == 17: #and this comes!