From 2ac9458bdd6503921c854607cc5df6e787e696aa Mon Sep 17 00:00:00 2001
From: Da Conceicao Ariano <116682853+sirackerman@users.noreply.github.com>
Date: Mon, 2 Dec 2024 21:19:51 +0800
Subject: [PATCH] Update README.md

---
 README.md | 131 +-----------------------------------------------------
 1 file changed, 2 insertions(+), 129 deletions(-)

diff --git a/README.md b/README.md
index a44ee6b..ed9285a 100644
--- a/README.md
+++ b/README.md
@@ -5,30 +5,17 @@ This ROS package enables control of ROS-compatible robots using a PS5 DualSense
 ## Features
 
 - D-pad control mode for precise digital input
-- Configurable speed settings
 - Turbo mode for faster movement
-- Custom input filtering for stable movement
 - Compatible with any ROS robot publishing to /cmd_vel topic
-- Support for both linear and angular movement
-- Support for both USB-C and Bluetooth connections
 
 ## Prerequisites
 
 ### Hardware
 - PlayStation 5 DualSense Controller
 - USB-C cable for wired connection
-  OR
-- Bluetooth adapter (if not built into your computer) for wireless connection
-- ROS-compatible robot that subscribes to /cmd_vel topic
 
 ### Software
 - Ubuntu 18.04 or newer
-- ROS Melodic or newer
-- Required ROS packages:
-  - joy
-  - geometry_msgs
-  - sensor_msgs
-  - teleop_twist_joy
 
 ## Installation
 
@@ -52,8 +39,6 @@ source devel/setup.bash
 ```
 
 ## Connecting the PS5 Controller
-
-### Option 1: USB-C Connection (Recommended for lowest latency)
 1. Connect your PS5 controller to your computer using a USB-C cable
 2. Verify the connection:
 ```bash
@@ -64,22 +49,7 @@ ls /dev/input/js*
 sudo chmod a+rw /dev/input/js*
 ```
 
-### Option 2: Bluetooth Connection
-1. Put your PS5 controller in pairing mode:
-   - Press and hold the PS button and Share button until the light bar starts flashing
-   
-2. Connect the controller via Bluetooth:
-   - Open Ubuntu's Bluetooth settings
-   - Click on "Wireless Controller" when it appears
-   - Wait for the connection to be established
-
-3. Verify the connection:
-```bash
-ls /dev/input/js0
-```
-
 ### Testing the Connection
-Regardless of connection method, you can test if the controller is working:
 ```bash
 # In terminal 1
 roscore
@@ -99,7 +69,6 @@ Press buttons on the controller - you should see the values change in terminal 3
 export TURTLEBOT3_MODEL=burger  # Replace with your robot model
 roslaunch turtlebot3_gazebo turtlebot3_world.launch
 ```
-
 2. Launch the PS5 controller node:
 ```bash
 roslaunch ps5_teleop ps5_teleop.launch
@@ -115,104 +84,8 @@ roslaunch ps5_teleop ps5_teleop.launch
 - Right Arrow: Turn Right
 - Hold L2 while moving: Turbo Mode (faster movement)
 
-## Customization
-
-### Speed Settings
-You can modify the speed settings in the launch file `~/catkin_ws/src/ps5_teleop/launch/ps5_teleop.launch`:
-
-```xml
-<param name="scale_linear" value="0.3" />     <!-- Normal linear speed -->
-<param name="scale_angular" value="0.6" />    <!-- Normal angular speed -->
-<param name="scale_linear_turbo" value="0.6" />  <!-- Turbo linear speed -->
-```
-
-### Button Mapping
-The default button mappings for the PS5 controller are:
-```
-D-pad:
-- Up arrow: axis 7 value 1
-- Down arrow: axis 7 value -1
-- Left arrow: axis 6 value 1
-- Right arrow: axis 6 value -1
-
-Buttons:
-- L1 (Enable): button 4
-- L2 (Turbo): button 6
-
-Other Buttons (for reference):
-- L3: button 10
-- R1: button 5
-- R2: button 7
-- R3: button 11
-- Triangle: button 3
-- Square: button 0
-- Cross: button 1
-- Circle: button 2
-- Share: button 8
-- Options: button 9
-- PS button: button 12
-- Touchpad: button 13
-```
-
-If your controller has different mappings, you can check them using:
-```bash
-rosrun joy joy_node
-rostopic echo /joy
-```
-
-Then update the parameters in the launch file accordingly.
-
-## Troubleshooting
-
-### Controller Not Detected
-1. For USB-C connection:
-   - Try unplugging and replugging the USB-C cable
-   - Try a different USB port
-   - Test the cable with another device to ensure it's working
-   - Check if the controller is detected:
-     ```bash
-     ls -l /dev/input/js*
-     ```
-
-2. For Bluetooth connection:
-   - Try removing the controller from Bluetooth devices and re-pairing
-   - Ensure the controller is charged
-   - Check if other Bluetooth devices are working
-
-3. Verify permissions:
-```bash
-sudo chmod a+rw /dev/input/js*
-```
-
-4. Check if the joy node is receiving input:
-```bash
-rostopic echo /joy
-```
-
-### Robot Not Moving
-1. Verify cmd_vel messages are being published:
-```bash
-rostopic echo /cmd_vel
-```
-
-2. Check that your robot is subscribing to /cmd_vel:
-```bash
-rostopic info /cmd_vel
-```
-
-3. Ensure the enable button (L1) is pressed while trying to move
-
-### Input Lag
-- If experiencing input lag with Bluetooth, try switching to a USB-C connection
-- Make sure your USB port is USB 3.0 or higher for best performance
-- Check CPU usage to ensure your system isn't overloaded
-
-
+## Customization and troubleshooting
+Check customization_and_troubleshooting.txt file.
 
 ## License
 This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.
-
-## Acknowledgments
-- ROS Joy package developers
-- Teleop Twist Joy package developers
-- The ROS community