目录
安装手柄接收器驱动
sudo apt-add-repository ppa:rael-gc/ubuntu-xboxdrv
sudo apt-get update && sudo apt-get install ubuntu-xboxdrv
配对手柄和接收器
1.将接收器接入电脑USB
2.测试手柄
ls /dev/input/js*
如果驱动安装成功，则会显示：
/dev/input/js0 /dev/input/js1 /dev/input/js2 /dev/input/js3 /dev/input/js4
因为只是接了一个设备，所以下面我们使用/dev/input/js0
测试
按手柄上的小圆球启动电源，然后长按无线启动开关，并按接收器上的按钮，等待手柄和接收器配对成功，成功后手柄上的小圆球就不会闪烁了。
sudo jstest /dev/input/js0
出现下面信息：
Driver version is 2.1.0.
Joystick (Xbox 360 Wireless Receiver) has 4 axes (X, Y, Rx, Ry)
and 17 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnStart, BtnMode, BtnThumbL, BtnThumbR, ?, ?, ?, (null), (null), (null), (null)).
Testing ... (interrupt to exit)
Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off Axes: 0: 0 1: 0 2: 0 3: 0 Buttons: 0:off 1Axes: 0: -1538 1: -6761 2: -264 3: 188 Buttons: 0:off 1:off 2:off 3:off 4:off 5:off 6:off 7:off 8:off 9:off 10:off 11:off 12:off 13:off 14:off 15:off 16:off
这是如果扭动手柄上的摇杆的话，数值会发生变化。
开发
sudo apt-get install ros-kinetic-joy
http://wiki.ros.org/joy
