ps3 joystick 连不上蓝牙接收器解决办法：
1、参考ps3joy 官文
2、拔下蓝牙接收器，再插入蓝牙接收器，按下p键，按一下就好
发现每次连上之后第二次就连不上了，发现拔下接收器之后再连就可以了。。
发布 cmd_vel， 订阅 Joy，，数据从摇杆进来，转换成速度发布出去，，，前提是摇杆connection active,,,sudo jstest /dev/input/js0 对按下按钮应数据有变化。
#!/usr/bin/env python import rospy from geometry_msgs.msg import Twist from sensor_msgs.msg importJoy class Ps3Learning(object): def __init__(self): self.cmd = None rospy.init_node("ps3joyLearning_node") rospy.Subscriber("/gl/joy", Joy, self.callback) rospy.on_shutdown(self.shutdown) velpub = rospy.Publisher('/gl/cmd_vel',Twist, queue_size=10) rate = rospy.Rate(20) while not rospy.is_shutdown(): rate.sleep() if self.cmd: velpub.publish(self.cmd) def shutdown(self): rospy.loginfo('shut down now..') def callback(self,data): rospy.loginfo(data) ccmd = Twist() if data.buttons[4] ==1 or data.buttons[6] ==1: ＃go line if data.buttons[4] ==1: ccmd.linear.x = 1 else: ccmd.linear.x = -1 else: ccmd.linear.x = 0 if data.buttons[5] ==1 or data.buttons[7] ==1: ＃rotate if data.buttons[7] ==1: ccmd.angular.z = 0.6 else: ccmd.angular.z = -0.6 else: ccmd.angular.z = 0 self.cmd = ccmd if __name__ == '__main__': Ps3Learning()
<launch> <node pkg="learning_ps3joy" type="listener.py" name="learningPs3"> <remap from="/gl/cmd_vel" to="/turtle1/cmd_vel"/> <remap from="/gl/joy" to="/joy"/> </node> <node pkg="joy" type="joy_node" name="joystick"/> </launch>
然后我早上摇了半天。。
