Summary

Sometime it can be handy while remote controlling, you can get an update on the current state, like voice indication or by lights.

  1. Connect your joystick to Ubuntu
  2. Prepare your sound file
  3. Play the sound file
  4. Global planning demo

Prerequisite

1 - Connect your joystick to Ubuntu

  • Pairing

ds_1

  • In Ubuntu Bluetooth settings, add new device

bluetooth

  • Test
rosrun joy joy_node 
rostopic echo /joy

2 - Prepare your sound file

Convert mp3 to sbc file

gst-launch-1.0 -q filesrc location=INPUT.mp3 ! decodebin ! audioconvert ! audiosample ! sbcenc ! "audio/x-sbc,rate=32000,channels=2,channel-mode=dual,blocks=16subbands=8,allocation-method=loudness,bitpool=25" ! queque ! filesink location=OUTPUT.sbc sync=false

3 - Play the sound file

  • Udev permission

in ps4_joystick_sound_player

sudo cp cfg/99-hidraw-permissions.rules /etc/udev/rules.d
  • If your username is not in dialout group, add to it
sudo adduser USERNAME dialout
  • Demo
roslaunch ps4_joystick_sound_player joy_sound_player.launch

4 - Change joystick’s light color

joy_sound_player.cpp

void JoySoundPlayer::play_sound(std::string SBCFile, std::vector<char> RGB, char volume){...}