1. Please check the Bluetooth is ON in host PC:  2. Click **+** button:  3. Hold **Share** + **PS button** until the LED starts blinking rapidly, then a new device **Wireless Controller** will appear. Select this new device and click "Next". Finally, this device will be paired successfully in Ubuntu:  the controller's LED will turn in blue and you can also find `/dev/input/js0` which is created by Bluetooth driver (**not** from ds4drv). 4. Disconnect this device by holding only **PS button** until the LED turns off (more than 10 seconds). 5. run following command: ``` $ sudo ds4drv --hidraw [info][controller 1] Created devices /dev/input/js0 (joystick) /dev/input/event1 (evdev) [info][hidraw] Scanning for devices m[info][controller 1] Connected to Bluetooth Controller (1C:66:6D:7B:C6:0A hidraw0) [info][hidraw] Scanning for devices [info][controller 1] Battery: Fully charged [warning][controller 1] Signal strength is low (18 reports/s) ``` **Note**: important point is that the bluetooth devices should be linked to `/dev/input/js0` by the above command. If not, please do step 4 again. 6. hold only **PS button** for a while, then the LED will turn back to blue again, meaning successful connection. The Bluetooth icon will have the padlock emblem. 7. disable touchpad input device by creating `/etc/udev/rules.d/50-ps4joy.rules` which contains following content: ``` SUBSYSTEM=="input", ATTRS{name}=="*Wireless Controller Touchpad", RUN+="/bin/rm %E{DEVNAME}", ENV{ID_INPUT_JOYSTICK}="" ``` **Note**: please refer to `2.1 disable touchpad input device` in http://wiki.ros.org/ds4_driver for more details. 8. restart udev rule by following commands: ``` $ sudo udevadm control --reload-rules $ sudo udevadm trigger ```