Ps5 drive

src/Teleop-Control/joystick_control/launch/controller.launch.py

@@ -7,13 +7,36 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 
+def find_ps5():
+    try:
+        with open("/proc/bus/input/devices", "r") as f:
+            device_block = ""
+            for line in f:
+                if line.strip() == "":
+                    if "Wireless Controller" in device_block:
+                        # Find the handlers line, e.g., H: Handlers=event19 js0
+                        for part in device_block.split():
+                            if part.startswith("js"):
+                                # Return the full path string, not just the number
+                                dev_path = f"/dev/input/{part.strip()}"
+                                print(f"Found PS5 controller at {dev_path}")
+                                return dev_path
+                    device_block = ""
+                else:
+                    device_block += line
+    except Exception as e:
+        print(f"Error reading devices: {e}")
+
+    print("ERROR: PS5 controller not found. Defaulting to /dev/input/js0")
+    return "/dev/input/js0"
+
 
 def generate_launch_description():
     pkg_joystick_control = get_package_share_directory("joystick_control")
     parameters_file = os.path.join(pkg_joystick_control, "pxn.yaml")
     # Detect IDs dynamically
     arm_dev = "/dev/input/by-id/usb-LiteStar_PXN-2113_Pro-joystick"
-    drive_dev = "/dev/input/by-id/usb-Thrustmaster_T.16000M-joystick"
+    drive_dev = find_ps5()
 
     ld = LaunchDescription()