Dingo Controller Pairing

Dingo ships with a PS4 controller by default that should already be paired with your robot.

If the controller does not pair automatically, or if you want to pair a new controller with your computer to control Dingo in simulation, follow these steps:

1. Install ds4drv

Install the python-ds4drv package on Ubuntu:

sudo apt-get install python-ds4drv

2. Put the controller in pairing mode

Press and hold the PS and Share buttons on your controller until the LED begins rapidly flashing white

3. Run ds4drv-pair

From the terminal, run

sudo ds4drv-pair

This script will scan for nearby Bluetooth devices, and connect automatically.

4. Check udev rules

On Dingo, once the controller is paired you should see the file /dev/input/ps4 appear on your system:

ls -l /dev/input
crw-rw-rw-+ 1 root root  13,  0 Aug 10 12:16 js0
lrwxrwxrwx  1 root root       3 Aug 10 12:16 ps4 -> js0

If you do not see the ps4 device, add the following to /etc/udev/rules.d/41-playstation.rules

KERNEL=="js*", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", MODE="0666", SYMLINK+="input/ps4"

and then reload udev:

sudo udevadm control --reload-rules
sudo udevadm trigger

5. Test the controller

You should now be able to run the following commands to make sure the controller input is working correctly:

sudo apt-get install jstest-gtk
jstest /dev/input/ps4
Axes:  0: -7770  1:-19256  2:-32767  3:     0  4:     0  5:-32767  6:-32767  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  6:off  7:off  8:off  9:off 10:off 11:off 12:off

As you press buttons and move the joysticks you should see the axes and buttons update accordingly.

Finally, open two terminals. In the first one, run:

cd ~/catkin_ws
source devel/setup.bash
roslaunch dingo_control teleop.launch

And in the second one, run:

cd ~/catkin_ws
source devel/setup.bash
rostopic echo /bluetooth_teleop/joy

As with jstest, you should see the buttons and axes update as you use the controller.

Other Controllers

Both the physical Dingo and simulated dingos can be used with other game controllers, including the Logitech F710 and Xbox One controller. These controllers will not pair using the ds4drv-pair command.

The F710 should pair automatically when powered on and the USB dongle is inserted into an available USB port. The controller will show up as /dev/input/js* where * is a number starting at zero.

The Xbox One controller can be paired using the sudo bluetoothctl command:

$ sudo bluetoothctl
agent on
scan on

Place your controller in pairing mode and look for “Xbox One Wireless Controller” to appear. Copy its MAC address (e.g. 11:22:33:44:55:66) and enter the following commands into the bluetoothct prompt, substituting the device’s MAC address:

scan off
trust 11:22:33:44:55:66
connect 11:22:33:44:55:66

As with the F710, the controller should appear as /dev/input/js* in Ubuntu.

To use your controller with Dingo, set the DINGO_JOY_DEV environment variable to point to your device, for example:

export DINGO_JOY_DEV=/dev/input/js0

On a physical robot, add the above command to /etc/ros/setup/bash. On a computer you are using for simulating Dingo, add that command to the end of $HOME/.bashrc.