clearpath_bt_joy

Monitors a Bluetooth joystick’s link quality and cuts off its input if the link degrades or disappears.

This provides a safety mechanism by which controllers that go out-of-range and latch their last-received input will not force the robot into an uncontrollable state.

How it works

bt_joy_cutoff_node reads raw HID reports from the controller’s /dev/hidrawN node directly (resolved from the joy_device parameter), rather than listening on /joy. This catches the case where joy_linux keeps republishing the last-received values after the BT link drops.

Changelog for package clearpath_bt_joy

2.9.18 (2026-10-19)

• Fix PS5 Controller Bluetooth pairing and joystick device selection (#399)

  * Fix PS5 Controller Bluetooth pairing and joystick device selection Replace bluetoothctl pairing with BlueZ D-Bus. Use dbus-python to discover, trust, pair, and connect DualSense controllers through BlueZ's D-Bus API. Add scoped pairing-agent authorization, structured error handling, and tests for discovery and pairing behavior. Add a regression tests.

  * Update clearpath_bt_joy/clearpath_bt_joy/pair_bt_controller.py Co-authored-by: Tom Wallis <<thomas.wallis@rockwellautomation.com>>

  * Update clearpath_bt_joy/clearpath_bt_joy/pair_bt_controller.py Co-authored-by: Tom Wallis <<thomas.wallis@rockwellautomation.com>> ---------Co-authored-by: Mark Ibrahim <<mibrahim@clearpathrobotics.com>> Co-authored-by: Tom Wallis <<thomas.wallis@rockwellautomation.com>>

• Contributors: mibrahim-cpr

2.9.17 (2026-09-17)

2.9.16 (2026-09-09)

2.9.15 (2026-08-18)

• Fixed logic for BT joy being absent. (#379)
• Contributors: Tony Baltovski

2.9.14 (2026-08-12)

2.9.13 (2026-08-07)

2.9.12 (2026-07-24)

2.9.11 (2026-07-14)

2.9.10 (2026-07-02)

• Added support for the PS5 joystick and created an actual cutoff to de… (#342)
  • Added support for the PS5 joystick and created an actual cutoff to detect when it about to disconnect.
  • Added more fine grained udev rules to ensuring the mapping is on the correct joy.
  • Updated README.
  • Added pairing script.
  • Minor changes.
  • Updated copyright to Rockwell Automation.
• Contributors: Tony Baltovski

2.9.9 (2026-06-02)

2.9.8 (2026-05-28)

• Added support for Fort VSC joy. (#341)
  • Added support for Fort VSC joy.
  • Removed bluetooth node.
• Contributors: Tony Baltovski

2.9.7 (2026-05-21)

2.9.6 (2026-04-14)

2.9.5 (2026-03-25)

2.9.4 (2026-03-13)

2.9.3 (2026-02-26)

2.9.2 (2026-02-26)

2.9.1 (2026-02-11)

2.9.0 (2026-02-11)

2.8.5 (2026-01-30)

2.8.4 (2025-12-22)

2.8.3 (2025-12-16)

2.8.2 (2025-11-06)

2.8.1 (2025-10-28)

2.8.0 (2025-10-23)

2.7.4 (2025-09-18)

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