####################################
##FILL ME IN
####################################
## links to any required tutorials
## note.0= [[ps3joy/Tutorials/PairingJoystickAndBluetoothDongle|How to Pair the PS3 Joystick with a Bluetooth Dongle]]
## descriptive title for the tutorial
## title = Writing a Teleoperation Node for the PS3 Joystick
## multi-line description to be displayed in search
## description = This tutorial covers how to write a teleoperation node and use it to drive the turtle in the [[turtlesim]].
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=
## next.1.link=
## what level user is this tutorial for
## level= BeginnerCategory
## keywords = teleoperation, joystick, PS3
####################################
<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

<<Include(ROS/Tutorials/SetupEnvironment)>>

=== Create a Scratch Package ===
Before starting this tutorial, take the time to create a scratch package to work in and manipulate the example code. See [[ROS/Tutorials/CreatingPackage|creating a ROS package]] to learn more about creating a package. In the tutorials folder, create a package called learning_ps3joy, with dependencies on roscpp, turtlesim and ps3joy:

{{{
$ roscd tutorials
$ roscreate-pkg learning_ps3joy roscpp turtlesim ps3joy
}}}
Uncomment the rosbuild_genmsg() line in the CMakeLists.txt file of the learning_ps3joy package and run [[rosmake]].

=== Writing a Simple Teleoperation Node ===
First, create learning_ps3joy/src/turtle_teleop_ps3joy.cpp in your favorite editor, and place the following inside it:

<<Include(joystick_drivers/Tutorials/TeleopNode,,from="##start", to="##end")>>

=== Compiling and Running Turtle Teleop ===
Add the following line to your CMakeLists.txt file:

{{{
rosbuild_add_executable(turtle_teleop_ps3joy src/turtle_teleop_ps3joy.cpp)
}}}

Run [[rosmake]] on your package.

=== Setting up the PS3 Joystick ===
Before we can run the joystick and teleop together we need to make the joystick accessible. Connect your PS3 joystick as we did in the [[ps3joy/Tutorials/PairingJoystickAndBluetoothDongle|previous tutorial]].

{{{
$ sudo bash
$ rosrun ps3joy ps3joy.py
}}}
Now list the permissions of the joystick:

{{{
$ ls -l /dev/input/js0
}}}
You will see something similar to:

 . {{{
crw-rw-XX- 1 root dialout 188, 0 2009-08-14 12:04 /dev/input/js0
}}}

If XX is rw: the js device is configured properly.

If XX is --: the js device is not configured properly and you need to:

{{{
$ sudo chmod a+rw /dev/input/js0
}}}
=== Writing a Launch File to Start all of the Nodes ===
Now let's make a launch file to start all of the nodes we need to start: create the file launch/turtle_ps3joy.launch and paste the following into it:

<<GetTaggedCode(https://raw.githubusercontent.com/ros-drivers/joystick_drivers_tutorials/master/turtle_teleop/launch/turtle_ps3joy.launch,xml,FULL,show_uri)>>

Use the left joystick of the PS3 controller to drive.

## AUTOGENERATED DO NOT DELETE
## TutorialCategory
## TutorialTurtlesim
## JoyStickDriverCategory