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
L1button as well as moving the left joystick but there has been no response. The devicehci0is not showing up in the/devdirectory. I've just had a quick play with the commandjstest --eventand I get the messagejstest: No such file or directory. Not sure if this is expected given thathci0is not in/devor whether I've done something else wrong.jstestseemed to be preinstalled on theJackalas the usage text displayed in the terminal after running the commandjstestwith no flags.Can you check
/dev/input/for ajs*device