cd ros2_gamepad
sudo sh makepre.sh
colcon build --packages-select ros2_gamepad
source install/setup.bash
ros2 run gamepad gamepad_test_node
打印如
备名称：Sony Computer Entertainment Wireless Controller
∟﹣﹣﹣设备路径：/dev/input/js0
∟﹣﹣﹣详细信息：USB DEVICE: Sony Computer Entertainment| Wireless Controller
first gamepad id is /dev/input/js0
decode type: Sony
Time:13042232 A:0 B:0 X:0 Y:0 LB:0 RB:0 start:0 menu:0 home:0 screenhot:0 LO:0 RO:0 XX:0 YY:0 LX:0 LY:0 RX:0 RY:0 LT:-32767 RT:-32767
ros2 run gamepad gamepad_test_node
ros2 run turtlesim turtlesim_node 或 ros2 launch turtlesim multisim.launch.py