ROS进阶学习（九）-- 大型AGV开发1

最近在开发大型AGV，打算用PS3游戏手柄使用蓝牙控制，淘了一个山寨货，插上USB就一直抖，先预热一下：

1、一些依赖库的安装

sudo apt-get install build-essential libdbus-1-dev check

sudo apt-get install libudev-dev

sudo apt-get install libical-dev

sudo apt-get install libreadline-dev

sudo apt-get install libbluetooth-dev

sudo apt-get install libspnav-dev

 sudo apt-get install bison byacc

sudo apt-get install libusb-dev

sudo apt-get install flex

git clone https://github.com/abstrakraft/cwiid.git

cd cwiid

sudo apt-get install autoconf

aclocal

autoconf

./configure

make

sudo make install

2、蓝牙驱动下载

git clone https://github.com/luetzel/bluez


cd bluez

./configure --prefix=/usr --mandir=/usr/share/man --sysconfdir=/etc --localstatedir=/var --enable-sixaxis

make -j3

sudo make install

3、重启蓝牙服务

sudo service bluetooth status

sudo systemctl daemon-reload

sudo service bluetooth restart

4、插上把树莓派和PS3用无线连接

sudo bluetoothctl

标题

agent on 注册

devices  注册

trust 04:E6:75:54:63:25  改成自己ID

defult-agent  设置默认连接

5、拔掉usb线，按PS3就可以了，此外需要配置驱动程序 ，需要的可以私聊