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如果不用ds4_driver驱动的话，摇杆值和按钮按键会完全不一样，一个明显的地方就是rostopic echo /joy的时候，前一个有18个按钮值，ROS的joy驱动是15个。ds4_driver 比ROS的joy驱动多了触摸板的触摸、按下和手柄震动的功能。我的手柄有时候ds4_driver配对上打不开, 然后就发现了这个问题。楼主最后的TCP按钮震动然后关机的功能确实是在别的地方没有见过，点个赞~微信截图_20220305153537.png
@xiaoqiang 好的，谢谢博主，我去反应一下
谢谢
rosdep update一定能通过简单方法 https://blog.csdn.net/weixin_44023934/article/details/121242176
