Connecting Ps3 controller to gazebo

[JB_KSU]

I would like to know if it is possible to use the Ps3 controller to navigate the Rosbot around in gazebo? Using the teleop keyboard is tedious. Having a physical controller to use would be nice.

I am using Ubuntu 16.04 and Ros kinetic.

So far I have installed the drivers. I am getting the controller to publish data but currently it seems to just replace the mouse instead of moving the Rosbot around.

In my ~/ros_workspace/src/rosbot_description/src/rosbot_navigation folder I have made the ps3.launch

I am using the command: roslaunch rosbot_navigation ps3.launch
The ps3.launch file which reads

<?xml version="1.0"?>

<launch>
  <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>


</launch>

Any suggestions would be GREAT!
Thank you!

This last picture is after running roslaunch rosbot_navigation ps3.launch
I followed these to install the necessary components to get the Ps3 controller to work with ubuntu.
sudo apt-get install ros-kinetic-joystick-drivers

http://wiki.ros.org/ps3joy/Tutorials/PairingJoystickAndBluetoothDongle

[lukasz.mitka]

Hello JB_KSU,

Your joystick seems to be working fine, joy topic that is published contains state of every button and axis.

To control ROSbot you need to convert axis values to velocity commands. It can be done with teleop_twist_joy.

Regards,
Łukasz

[byq77]

Try this launch:

<launch>
       <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" />
           <param name="autorepeat_rate" value="5" />
       </node>
       <node pkg="teleop_twist_joy" type="teleop_node" name="teleop_node" output="screen" respawn="false">
           <param name="enable_button" value="1" />
           <param name="axis_angular" value="1" />  
       </node>
</launch>

You need to install teleop-twist-joy beforehand:

$ sudo apt install ros-kinetic-teleop-twist-joy

There is an enable button activated (kind of safety feature). To allow movement, you need to find out which one it is.

[JB_KSU]

Am I to just create this launch file and place it in this launch folder ?
/ros_workspace/src/rosbot_description/src/rosbot_navigation/launch

[lukasz.mitka]

This will be correct place, assuming you will name this file joy.launch then you can launch it with:

roslaunch rosbot_navigation joy.launch

Regards,
Łukasz