match Hardware Utilities

Installation of DualShock Support

This package needs the mirMsgs package from match_mobile_robotic

Setup workspace

Create catkin folder system_ctl_ws in the home dictionary

Clone match_hardware_utilities into the src folder

Clone submodule ds4ros into the folder

Install Dualshock ds4drv driver to use ds4ros

sudo -H pip install git+https://github.com/gerardcanal/ds4drv

Add ds4drv rule

sudo wget https://raw.githubusercontent.com/chrippa/ds4drv/master/udev/50-ds4drv.rules -O /etc/udev/rules.d/50-ds4drv.rules

Update udevadm

sudo udevadm control --reload-rules && sudo udevadm trigger

Build system_ctl_ws and reboot

Connect the DualShock controller and configure autostart

Open bluetoothctl in a terminal

bluetoothctl

Enable scan

scan on

Press Share-button and PlayStation-button on DualShock controller for 5s

"Wireless Controller" with MAC-adress should pop up

Connect to Wireless Controller:

connect "MAC"

Trust Wireless Controller

trust "MAC"

Exit bluetoothctl

exit

Configure the MAC adress in the autostart.sh file, reboot and test it using bash autostart.sh

Install autostart.sh

Create systemd service

nano /etc/systemd/system/autostart_ds4.service

Enter this configuration:

[Unit]
Description=ROS Autostart Service
After=network.target  # Ensure the network is up before starting

[Service]
ExecStart=bash /home/rosmatch/system_ctl_ws/src/match_hardware_utilities/ds4_controller/scripts/autostart.sh
StandardOutput=inherit
StandardError=inherit
Restart=always  # Automatically restart if the process crashes
User=rosmatch
Environment="ROS_MASTER_URI=http://mir:11311"

[Install]
WantedBy=multi-user.target

Reload and enable autostart

sudo systemctl daemon-reload
sudo systemctl enable autostart_ds4.service