How can I read bluetooth data with ROS Noetic?

Question

I am working with a KUKA KR5 arc HW-2 manipulator in Gazebo, I created the URDF model and all the necessary drivers to be able to move it, what I would like to know is if it is possible to use an Xbox Series S controller to be able to move its joints. I understand that the new Xbox controls communicate via bluetooth but I really don't know how to obtain the data sent by their different buttons and triggers with ROS. Is there a package for that or a rospy or roscpp function that can be used to read what is being sent through a bluetooth channel?

If someone has managed to do something similar to what I'm looking for, I'd really appreciate it if you could guide me, it's for the development of a school project, it doesn't matter if a wired Xbox controller, PlayStation controller or any other bluetooth controller was used.

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Originally posted by LuisEFA1998 on ROS Answers with karma: 35 on 2022-05-01

Post score: 0

Answer 1

ROS categorizes such devices as joysticks. If you configure linux properly, the OS sees the bluetooth-controller as a serial port which sends a stream of characters.

Start your investigation here: http://wiki.ros.org/joystick_drivers

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Originally posted by Mike Scheutzow with karma: 4903 on 2022-05-02

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by LuisEFA1998 on 2022-05-03:
Thanks a lot bro, I'll check that ROS package.