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ps5_teleop/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(ps5_teleop)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  joy
+  rospy
+  sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   sensor_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ps5_teleop
+#  CATKIN_DEPENDS geometry_msgs joy rospy sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ps5_teleop.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ps5_teleop_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ps5_teleop.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

ps5_teleop/launch/ps5_teleop.launch

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+<?xml version="1.0"?>
+<launch>
+  <!-- Joy Node -->
+  <node pkg="joy" type="joy_node" name="joy_node" output="screen">
+    <param name="dev" value="/dev/input/js0" />
+    <param name="deadzone" value="0.5" />
+    <param name="autorepeat_rate" value="20" />
+  </node>
+
+   <!-- D-pad Cleaner Node -->
+  <node pkg="ps5_teleop" type="dpad_cleaner.py" name="dpad_cleaner" output="screen">
+    <remap from="cmd_vel" to="cmd_vel" />
+  </node>
+
+
+  <!-- Teleop Node -->
+  <node pkg="teleop_twist_joy" type="teleop_node" name="teleop_twist_joy" output="screen">
+    <param name="axis_linear" value="7" />
+    <param name="axis_angular" value="6" />
+    <param name="scale_linear" value="0.3" />
+    <param name="scale_angular" value="0.6" />
+    <param name="scale_linear_turbo" value="0.6" />
+    <param name="enable_button" value="4" />
+    <param name="enable_turbo_button" value="6" />
+  </node>
+</launch>

ps5_teleop/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>ps5_teleop</name>
+  <version>0.0.0</version>
+  <description> ROS package for controlling robots using a PS5 DualSense controller</description>
+
+ <maintainer email="[email protected]">ariano</maintainer>
+ <maintainer email="[email protected]">Your Name</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>rospy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>joy</depend>
+  <depend>teleop_twist_joy</depend>
+
+  <export>
+  </export>
+</package>
+

ps5_teleop/scripts/dpad_cleaner.py

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+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import Joy
+
+class DpadCleaner:
+    def __init__(self):
+        rospy.init_node('dpad_cleaner')
+
+        # publisher for cleaned cmd_vel
+        self.clean_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
+
+        # Subscribe to joy topic
+        rospy.Subscriber('joy', Joy, self.joy_callback)
+
+        # Parameters
+        self.linear_axis = 7  # Up/Down arrows
+        self.angular_axis = 6  # Left/Right arrows
+        self.enable_button = 4  # L1
+        self.turbo_button = 6  # L2
+
+        # Speeds
+        self.linear_speed = 0.3
+        self.angular_speed = 0.6
+        self.turbo_multiplier = 2.0
+
+        # Threshold for d-pad input
+        self.threshold = 0.5
+
+    def joy_callback(self, joy_msg):
+        if len(joy_msg.buttons) <= self.enable_button or len(joy_msg.axes) <= max(self.linear_axis, self.angular_axis):
+            return
+
+        # Only process if enable button (L1) is pressed
+        if not joy_msg.buttons[self.enable_button]:
+            # Not processing any command when enable button is released
+            zero_twist = Twist()
+            self.clean_pub.publish(zero_twist)
+            return
+
+        # Create Twist message
+        twist = Twist()
+
+        # Get speed multiplier
+        speed_multiplier = self.turbo_multiplier if (len(joy_msg.buttons) > self.turbo_button and 
+                                                    joy_msg.buttons[self.turbo_button]) else 1.0
+
+        # Process linear motion (up/down)
+        linear_input = joy_msg.axes[self.linear_axis]
+        if abs(linear_input) > self.threshold:
+            twist.linear.x = self.linear_speed * linear_input * speed_multiplier
+
+        # Process angular motion (left/right)
+        angular_input = joy_msg.axes[self.angular_axis]
+        if abs(angular_input) > self.threshold:
+            twist.angular.z = self.angular_speed * angular_input * speed_multiplier
+
+        # Publish the cleaned command
+        self.clean_pub.publish(twist)
+
+if __name__ == '__main__':
+    try:
+        cleaner = DpadCleaner()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass