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Install pip for python
sudo apt install pip
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Install Dualshock ds4drv driver to use ds4ros
$ sudo -H pip install git+https://github.com/gerardcanal/ds4drv
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Add ds4drv rule
sudo wget https://raw.githubusercontent.com/chrippa/ds4drv/master/udev/50-ds4drv.rules -O /etc/udev/rules.d/50-ds4drv.rules
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Update udevadm
sudo udevadm control --reload-rules && sudo udevadm trigger
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Reboot
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Open bluetoothctl in a terminal
bluetoothctl
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Enable scan
scan on
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Press Share-button and PlayStation-button on DualShock controller for 5s
"Wireless Controller" with MAC-adress should pop up
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Connect to Wireless Controller:
connect "MAC"
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Trust Wireless Controller
trust "MAC"
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Exit bluetoothctl
exit
DualShock-Controller should now automatically connect to the MUR after a reboot by pressing the PlayStation-Button