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[P1] Teleoperation gamepad node — PS5 DualSense controller via Bluetooth #433

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opened 2026-03-05 08:51:41 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 08:51:41 -05:00
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Goal

Manual control of SaltyBot via PS5 DualSense controller connected to Orin via Bluetooth.

Requirements

  • ROS2 node reading /dev/input/js0 (or evdev)
  • Left stick: linear velocity (forward/back)
  • Right stick: angular velocity (turn)
  • L2/R2 triggers: speed multiplier (gentle to full speed)
  • Triangle: toggle follow-me mode
  • Square: emergency stop
  • Circle: perform random trick
  • X: toggle pan-tilt tracking (manual vs auto)
  • D-pad: manual pan-tilt control
  • Rumble feedback: obstacle proximity, low battery
  • Deadzone: configurable (default 0.1)
  • Publish /cmd_vel (Twist) and /saltybot/teleop_active (Bool)
  • Safety: teleop overrides autonomous control when active
## Goal Manual control of SaltyBot via PS5 DualSense controller connected to Orin via Bluetooth. ## Requirements - ROS2 node reading /dev/input/js0 (or evdev) - Left stick: linear velocity (forward/back) - Right stick: angular velocity (turn) - L2/R2 triggers: speed multiplier (gentle to full speed) - Triangle: toggle follow-me mode - Square: emergency stop - Circle: perform random trick - X: toggle pan-tilt tracking (manual vs auto) - D-pad: manual pan-tilt control - Rumble feedback: obstacle proximity, low battery - Deadzone: configurable (default 0.1) - Publish /cmd_vel (Twist) and /saltybot/teleop_active (Bool) - Safety: teleop overrides autonomous control when active
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#433
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