###Disable interception of HID devices by bluetoothd Add the following line in /etc/bluetooth/main.conf

DisablePlugins = input

###Pairing (only once): sudo bash

rosrun ps3joy sixpair

###Manual Connecting (if no startup script) sudo bash rosrun ps3joy ps3joy.py #Controller only

rosrun ps3joy ps3joy_node.py #Controller with Feedback

###Get input (if not in launchfile, without root) rosrun joy joy_node

###Udev Rules copy the udev rule 72-ps3.rules (https://raw.githubusercontent.com/ipa320/setup_cob4/master/udev_rules/72-ps3.rules) to /etc/udev/rules.d.

###Autostart script copy the script ps3joy_node_starter.sh(https://raw.githubusercontent.com/ipa320/setup_cob4/master/udev_rules/ps3joy_node_starter.sh) to /etc/rc.local.

For further information see http://wiki.ros.org/ps3joy

Changelog for package cob_teleop

0.6.33 (2023-11-06)

0.6.32 (2023-04-29)

0.6.31 (2023-01-04)

0.6.30 (2022-11-17)

0.6.29 (2022-07-29)

• Merge pull request #317 from benmaidel/feature/run_factor_axis use right trigger axis as an analog signal for the run_factor
• check vector boundaries
• check if axis_run was ever triggered before applying the run_factor
• add option to use trigger button axis for the run factor
• Contributors: Benjamin Maidel, Felix Messmer

0.6.28 (2022-03-15)

0.6.27 (2022-01-12)

0.6.26 (2021-11-26)

0.6.25 (2021-08-02)

0.6.24 (2021-07-02)

0.6.23 (2021-07-01)

0.6.22 (2021-05-10)

0.6.21 (2021-04-06)

0.6.20 (2021-01-25)

0.6.19 (2020-12-02)

• Merge pull request #287 from fmessmer/fix_catkin_lint fix catkin_lint
• fix catkin_lint
• Contributors: Felix Messmer, fmessmer

0.6.18 (2020-10-21)

0.6.17 (2020-10-17)

• Merge pull request #284 from fmessmer/test_noetic test noetic
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.6.16 (2020-03-18)

• Merge pull request #271 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Contributors: Felix Messmer, fmessmer

0.6.15 (2019-11-07)

• Merge pull request #252 from benmaidel/feature/dock_undock added docking/undocking feature to teleop
• added docking/undocking feature to teleop
• Contributors: Benjamin Maidel, Felix Messmer

0.6.14 (2019-08-07)

0.6.13 (2019-07-19) ------------------

0.6.12 (2019-06-07)

0.6.11 (2019-04-05)

0.6.10 (2019-03-14)

• Merge pull request #238 from benmaidel/feature/publish_feq [cob_teleop] made publish rate configurable
• made publish rate configurable
• Contributors: Benjamin Maidel, Felix Messmer

0.6.9 (2018-07-21)

• update maintainer
• Contributors: ipa-fxm

0.6.8 (2018-07-21)

0.6.7 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #202 from ipa-fxm/update_maintainer update maintainer
• update maintainer
• Merge pull request #197 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, Richard Bormann, ipa-fxm, ipa-uhr-mk

0.6.6 (2017-07-17)

• manually fix changelog
• Contributors: ipa-fxm

0.6.5 (2016-10-10)

• add safe mode for teleop
• Contributors: Florian Weisshardt, ipa-fmw, ipa-nhg

0.6.4 (2016-04-01)

• reduce terminal output
• changes for new message structure and concurrent mode
• compile fixes because of changes in cob_light
• swap say-setLight execution order2
• introduce enable params, styling, consistency, beautifying
• add catkin include dirs
• adapt twist_mux topic names according to https://github.com/ipa320/orga/pull/1#issuecomment-159195427
• added apply_ramp parameter to switch velocity smoothing on teleop side on and off (if velocity_smoother is active teleop do not need to smooth)
• changed keyboard default topic to twist_mux input
• Merge branch 'fix_teleop' of https://github.com/ipa-fmw/cob_command_tools into fix_teleop
• announce 'go' after init all
• tabs vs. spaces
• replace string before passing to say
• change speach output
• enable speach for default position mode
• cob_teleop: disable light, encapsulate say and use deadman button to enable mode switch
• Fix typo
• added tag exported targets
• deleted config folder
• change frequencies
• removed configuration files
• use light action server
• first robot test
• global ns for actions
• cob_teleop review
• updated package.axml and CMakeLists
• fisrt testable version
• adapt the node for other robots
• beautify
• update
• update
• new node
• Contributors: Benjamin Maidel, Florian Weisshardt, Marco Bezzon, ipa-fmw, ipa-fxm, ipa-nhg

0.6.3 (2015-08-25)

• boost revision
• do not install headers in executable-only packages
• explicit dependency for boost
• more cleanup
• remove obsolete autogenerated mainpage.dox files
• remove FILES_MATCHING
• remove trailing whitespaces
• migrate to package format 2
• sort dependencies
• Contributors: ipa-fxm

0.6.2 (2015-06-17)

• replace brics_actuator
• use new Trigger from std_srvs
• Update README-PS3.md
• Update README-PS3.md
• Update README-PS3.md
• Update README-PS3.md
• catkin_lint
• use correct default namespace
• Instruction for PS3 Joystick with Bluetooth
• changed hardcoded namespace
• improved ROS_DEBUG output
• improved ROS output
• improved homing/recover srv-calls: now checking success of pltf-init/recovering instead of just checking srv call response
• Contributors: Nadia Hammoudeh García, Thorsten Kannacher, fmw-ms, ipa-fxm

0.6.1 (2014-12-15)

• merge
• adapt teleop_v2 to the new controllers structure
• add gencpp dependency
• rename teleop to teleop_v1
• change maintainer
• rename finished
• rename files from cob4 to v2
• Contributors: Florian Weisshardt, ipa-nhg

0.6.0 (2014-09-18)

• fix cppcheck warnings
• Contributors: Florian Weisshardt

0.5.2 (2014-08-28)

• restore original cob_teleop
• moved folder
• base works, attemp arm
• Contributors: ipa-fmw-ms, ipa-fxm

0.5.1 (2014-03-20)

• fixed cob_teleop_keyboard
• fix teleop for 3DOF torso
• changes for hydro deps
• Fixed CMakefiles for teleop stuff.
• merged catkin version
• Initial catkinization.
• critial bugfix (buffer overflow)
• fixed wrong debug message
• use 100Hz for teleop
• no waiting for parameters
• fuerte migration, joy msg moved
• adapt roslaunch tests
• fix safety
• teleop with safe base movements
• add dependency to joy
• removed deprecated dependency
• new file teleop_keyboard.launch
• fix robot modules
• removed launch files
• removed launch and configuration files
• remove compiler warnings
• use joy.launch in teleop
• removed compiler warnings
• added cob3-4 configs
• removed compiler warninigs
• config files for cob3-bosch
• added ENV variables to tests
• electric update for teleop
• cleanup arm and dashboard configs
• add stop and recover/init button to teleop
• config for cob3-3
• Merge branch 'master' of github.com:ipa-fmw/cob_apps
• added license header
• add recover base button to teleop
• cob3-2 config for teleop
• changed tinmeout to 1sec
• merge
• teleop with brics messages
• added desire.yaml
• merge
• moved output to DEBUG
• added some usage instruction output
• small bug-fix
• new teleop_keyboard version - includes arm, tray, torso
• fixed teleop jump-back error
• deleted old launch file
• added module parameters for all modules
• added yaml teleop module yaml file for cob3-1
• moved robot specific teleop configuration to external configuration files
• merge
• removed deprecated dependencies
• add dependency to pt2_teleop
• wait only for 1 sec
• added support for brics intefaces to tray and arm
• added brics interface for torso
• cleanup in cob_apps and updated stack.xml's
• research camp challenge
• merge
• renamed camera_axis to head_axis and platform to base
• system cleaned - missing launch files added
• much ado about nothing
• Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
• merged with cpc-pk: added ctrl for tricycle-kinematic; specification of limit in CanDriveHarmonica can now be specified via Inifile; base_drive_chain can be operated on variable numbers of motors (lesser or equal to eight); variable setting of path to inifile for UndercarriageCtrlGeom; debugged relaysboard - reads Bus now nonblocking
• merge
• teleop keyboard
• Merge branch 'master' into scriptserver
• performance tuning
• teleoperation with keyboard
• update documentation
• bugfix in teleop
• ramp filter for base_controller
• teleop with deadman and run button
• improved joystick handling
• renamed launch file
• modification on cob3-2
• adaptions for cob3-2
• knoeppkes
• new platform launch file
• deleted teleop keyboard
• update on robot
• dual arm cob3 simulation and modified controllers for schunk simulation
• modifications for navigation with ucar
• adapt device
• merge with cpc
• Added dependencies for build of controllers to cob_teleop package
• implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
• remote controll of torso, tray, arm with joystick is working
• added timeout, if no /joint_states message arrives
• initial values for velocities
• get initial joint values from joint_states topic
• test
• Deployment of undercarriage controller debugged and finished: launch-script cob_ucar_joy starts up relayboard, base_drive_chain and controller; also remaps topics and services in correct namespaces. Debugging of controller itself is work in progress: simplified and removed old stuff - code compiles - controller runs but appaerently has some bugs -> may not yet be used
• Merge branch 'review-cpc'
• introduced env variable ROBOT
• debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
• cleaning up in cob_apps stack
• modified teleop launch file
• launch file for teleop_cob
• new teleop for cob
• merge
• new stl files for torso
• JSF: Added intrinsics to topic
• debugged ucar controller and base drive chain node - still not running
• reduced velocity of joystick
• better 2d navigation
• test of ROS navigation on cob
• renamed packages to cob convention
• Contributors: Alexander Bubeck, COB3-Manipulation, COB3-Navigation, Christian, Florian Weißhardt, Your full name, abubeck, b-it-bots, cpc, fmw, ipa, ipa-bnm, ipa-cob3-3, ipa-cpc, ipa-fmw, ipa-fxm, ipa-taj-dm, ipa-uhr-fm, nhg-ipa, snilsson, uh