 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
How to Automatically Run ps3joy as a daemon
Description:Tutorial Level:
This tutorials shows how to run ps3joy as daemon, so that you don't have to manually invoke ps3joy.py.
Contents
Show EOL distros:
Below shows the ps3joy daemon launcher file
### BEGIN INIT INFO
# Provides: ps3joy
# Required-Start:
# Required-Stop:
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: starts instance of ps3joy.py
# Description: starts instance of pd3joy.py
### END INIT INFO
############### EDIT ME ##################
#APP_PATH=""
. /opt/ros/electric/setup.sh
export ROS_HOME=/root
# path to daemon
DAEMON=`rospack find ps3joy`/ps3joy.py
# startup args
DAEMON_OPTS="--inactivity-timeout=900 --redirect-output=/var/log/ps3joy.log"
# script name
NAME=ps3joy
# app name
DESC=ps3joy
RUN_AS=root
PID_FILE=/var/run/ps3joy.pid
############### END EDIT ME ##################
test -x $DAEMON || exit 0
set -e
case "$1" in
start)
echo -n "Starting $DESC: "
start-stop-daemon -c $RUN_AS --start --background --pidfile $PID_FILE --make-pidfile -a $DAEMON -- $DAEMON_OPTS
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
stop)
echo -n "Stopping $DESC: "
start-stop-daemon --stop --pidfile $PID_FILE
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
restart|force-reload)
echo -n "Restarting $DESC: "
start-stop-daemon --stop --oknodo --pidfile $PID_FILE
sleep 1
start-stop-daemon -c $RUN_AS --start --background --pidfile $PID_FILE --make-pidfile -a $DAEMON -- $DAEMON_OPTS
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
*)
N=/etc/init.d/$NAME
echo "Usage: $N {start|stop|restart|force-reload}" >&2
exit 1
;;
esac
exit 0Below shows the ps3joy daemon launcher file
### BEGIN INIT INFO
# Provides: ps3joy
# Required-Start:
# Required-Stop:
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: starts instance of ps3joy.py
# Description: starts instance of pd3joy.py
### END INIT INFO
############### EDIT ME ##################
#APP_PATH=""
. /opt/ros/electric/setup.sh
export ROS_HOME=/root
# path to daemon
DAEMON=/opt/ros/hydro/lib/ps3joy/ps3joy.py
# startup args
DAEMON_OPTS="--inactivity-timeout=900 --redirect-output=/var/log/ps3joy.log"
# script name
NAME=ps3joy
# app name
DESC=ps3joy
RUN_AS=root
PID_FILE=/var/run/ps3joy.pid
############### END EDIT ME ##################
test -x $DAEMON || exit 0
set -e
case "$1" in
start)
echo -n "Starting $DESC: "
start-stop-daemon -c $RUN_AS --start --background --pidfile $PID_FILE --make-pidfile -a $DAEMON -- $DAEMON_OPTS
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
stop)
echo -n "Stopping $DESC: "
start-stop-daemon --stop --pidfile $PID_FILE
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
restart|force-reload)
echo -n "Restarting $DESC: "
start-stop-daemon --stop --oknodo --pidfile $PID_FILE
sleep 1
start-stop-daemon -c $RUN_AS --start --background --pidfile $PID_FILE --make-pidfile -a $DAEMON -- $DAEMON_OPTS
if [ $? ]; then
echo "[OK]"
else
echo "[FAILED]"
fi
;;
*)
N=/etc/init.d/$NAME
echo "Usage: $N {start|stop|restart|force-reload}" >&2
exit 1
;;
esac
exit 0To install
sudo update-rc.d ps3joy defaults 99 99
, To uninstall,
sudo update-rc.d -f ps3joy remove
setup udev
You need to write udev rule for ps3 to see always the device file with the same name. Please copy the following file at /etc/udev/rules.d/73-joy-aliases.rules.
SUBSYSTEMS=="input", KERNEL=="js[0-9]*", ATTRS{name}=="Sony Playstation SixAxis/DS3", SYMLINK+="input/ps3joy"Please restart udev.
sudo service udev restart
And you can see ps3 at /dev/input/ps3joy
