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I didn't use PS3 control my machine, but I used xbox joy to control it. Maybe http://wiki.ros.org/joy/Tutorials http://wiki.ros.org/ps3joy/Tutorials and http://docs.ros.org/melodic/api/joy/html/index.html will be useful for you. I guess no joy could publish '/cmd_vel' directly. You need to subscribe topic from your joy( e.g sensor_msgs::Joy "joy" ). Good luck.

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