sawPSMove

SAW wrapper for PS Move Controllers (PlayStation) based on the psmmoveapi library: https://github.com/thp/psmoveapi. This code compile on Linux. This repository provides a core component as well as:

• Example application with Qt based GUI
• ROS node (also with Qt based GUI)

Links

• License: http://github.com/jhu-cisst/cisst/blob/master/license.txt
• JHU-LCSR software: http://jhu-lcsr.github.io/software/

Dependencies

• cisst libraries: https://github.com/jhu-cisst/cisst
• psmoveapi: https://github.com/thp/psmoveapi
• Qt for user interface
• ROS and ROS CRTK (optional) - works with ROS 1 and ROS 2!

Compilation and configuration

You will first need to download, compile and install the psmoveapi. You can git clone the code from https://github.com/thp/psmoveapi. Then configure the build with ccmake or cmake-gui , set the build type to Release and the install prefix to /usr/local. Build with make and install with sudo make install.

git clone https://github.com/thp/psmoveapi.git
cd psmoveapi
mkdir build
cd build

cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)

sudo make install

The psmoveapi headers, libraries and executables will be install under /usr/local.

You might need to change your BlueTooth configuration, see https://psmoveapi.readthedocs.io/en/latest/pairing.html (summary, edit /etc/bluetooth/input.conf to set ClassicBondedOnly=false).

Verify Installation

• Headers:

  ls /usr/local/include/psmoveapi/

  Expected output: psmove.h psmove_config.h psmove_tracker.h ...

• Executables:

  which psmove

  Expected output: /usr/local/bin/psmove

To pair the controllers, since psmove should be installed in /usr/local/bin, you can type psmove pair and psmove register.

Build

See https://github.com/jhu-saw/vcs for download and build instructions. Use the VCS files for ps-move.

Examples

Main example

The main example provided is sawPSMoveQtExample. The command line options are:

sawPSMoveQtExample:
 -j <value>, --json-config <value> : json configuration file (optional)
 -m, --component-manager : JSON files to configure component manager (optional)
 -D, --dark-mode : replaces the default Qt palette with darker colors (optional)

ROS

If you also want to use the ROS node for ROS 1, run:

rosrun ps_move ps_move

For ROS 2, run:

ros2 run ps_move ps_move

Other "middleware"

Besides ROS, the PSMove component can also stream data to your application using the sawOpenIGTLink or sawSocketStreamer components. See:

• sawOpenIGTLink
• sawSocketStreamer