Testing with DS4 Controller

Using ds4_driver we can test the controller with the following command, cherry-picking all the controller inputs from the /status topic.

ros2 topic echo /status | command grep -A 23 axis_left_x

After building the ROS2 package launch the ds4_twist node with 2 DOFs. The triggers axis (axis_r2 - axis_l2) are used to control the linear velocity in $x$ and the left joystick $x$-axis (axis_left_x) is used to control the angular velocity around $z$.

ros2 launch ds4_driver ds4_twist_lugbot.launch.xml

Look at the /cmd_vel topic to see the velocity commands being published.

ros2 topic echo /cmd_vel