A ROS1 Node to integrate the DualSense 5 (PS5) Controller into the ROS ecosystem, including feedback messages to set leds, adaptive triggers etc.

Install the hidapi.

sudo apt install libhidapi-dev

Install the package from pypi.

pip install pydualsense

To allow linux to access the controller, you will need to set the device permissions.

You can either do this manually by typing

sudo su root

OR

sudo chmod -R 777 /dev

to run the node,

OR you can add the provided UDEV rule to your rules.d folder to permanently enable this for your system:

sudo cp YOUR_PATH/ds5_ros/udev/99-dualsense.rules /etc/udev/rules.d

Add attribute cable_connection in function init():

def init(self):
    ...
    self.cable_connection = True
    ...

Change function writeReport() in pydualsense.py to catch the IOError when controller is disconnect to the PC

def writeReport(self, outReport):
    """
    write the report to the device

    Args:
        outReport (list): report to be written to device
    """
    try:
        self.device.write(bytes(outReport))
    except IOError:
        self.cable_connection = False

Initialize the controller

from pydualsense import *

ds = pydualsense() # open controller
ds.init() # initialize controller

Close the controller

ds.close() 

Set color RGB. RGB are integer values and in range 0-255.

ds.light.setColor(255, 0, 0)

Control the rumble effect of left motor or right motor. Intensity is in range 0-255.

ds.setLeftMotor(255)

Set trigger mode for the buttons and control the intensity.

ds.TriggerR.setMode(TriggerModes.Rigid)
ds.TriggerR.setForce(1, 255)

Other effects and enumerations could be found under pydualsense.py and enums.py

Joy

• Topic: joy
• Message type: Joy

Joy feedback

• Topic: joy/set_feedback
• Message type: JoyFeedbackArray

buttons[0] = cross

buttons[1] = circle

buttons[2] = triangle

buttons[3] = square

buttons[13] = cross up

buttons[16] = cross right

buttons[14] = cross down

buttons[15] = cross left

buttons[6] = rear left 2 button

buttons[7] = rear right 2 button

buttons[4] = rear left 1

buttons[5] = rear right 1

buttons[8] = stick left button

buttons[9] = stick right button

buttons[10] = PS

buttons[11] = share

buttons[12] = options

buttons[17] = track pad button

joy_msg.axes[0] = stick left leftward (-1.0 -> 1.0, default ~0.0)

joy_msg.axes[1] = stick left upward (-1.0 -> 1.0, default ~0.0)

joy_msg.axes[2] = stick right leftward (-1.0 -> 1.0, default ~0.0)

joy_msg.axes[3] = stick right upward (-1.0 -> 1.0, default ~0.0)

joy_msg.axes[4] = rear left 2 pushDown (0.0 -> 1.0, default = 0)

joy_msg.axes[5] = rear right 2 pushDown (0.0 -> 1.0, default = 0)

Other controll function like touch pad can be found in pydualsense.py

HeaderFile: rgbIntToFloat.h with function rgbIntToFloat(int, int, int) to change RGB 3 * 8 bit to float32 value

https://github.com/flok/pydualsense