Summit_xl package:

[ Ссылка ]

1- Install Playstation joystick drivers
sudo pip3 install ds4drv
sudo wget -O /etc/udev/rules.d/50-ds4drv.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

2- Check the PS4 connection with computer:
ls -l /dev/input/js0
sudo chmod a+rw /dev/input/js0

3- Launch the robot in gazebo:
roslaunch summit_xl_gazebo summit_xl_hls_omni.launch

4- Launch the joystick node
rosrun summit_xl_gazebo teleop_joy

свернуть