How to use PS4 controller with CLearpath Jackal?
I am struggling to use the PS4 controller supplied with the Clearpath Jackal for manual control. I can connect to it by running sudo bluetoothctl
then agent on
and scan on
to get the Mac address and then running:
scan off
pair <MAC_ADDRESS>
trust <MAC_ADDRESS>
connect <MAC_ADDRESS>
This successfully connects to the controller but I get no response when I try to use it, i.e. the robot doesn't move. I've tried to run hcitool dev
and rfkill list all
to get more info. Here's the output I get:
administrator@user:~$ hcitool dev
Devices:
hci0 D8:61:62:B3:2F:DE
administrator@user:~$ rfkill list all
0: hci0: Bluetooth
Soft blocked: no
Hard blocked: no
1: phy0: Wireless LAN
Soft blocked: no
Hard blocked: no
Any ideas where I am going wrong?
The first time using a PS4 controller with a Husky, I wasn't aware that I needed to press one of the shoulder buttons to actually send commands.
Few follow ups that I am not sure I understand as part of you orginal question: Is the device showing up in
/dev/
? Are you able to use something like jstest to visualize joystick outputs?Just trying to see if the issue is at the OS level or the ROS level
I've tried holding the
L1
button as well as moving the left joystick but there has been no response. The devicehci0
is not showing up in the/dev
directory. I've just had a quick play with the commandjstest --event
and I get the messagejstest: No such file or directory
. Not sure if this is expected given thathci0
is not in/dev
or whether I've done something else wrong.jstest
seemed to be preinstalled on theJackal
as the usage text displayed in the terminal after running the commandjstest
with no flags.Can you check
/dev/input/
for ajs*
device