diff --git a/nextage_ros_bridge/doc/README_nextage_DS4.odt b/nextage_ros_bridge/doc/README_nextage_DS4.odt
new file mode 100644
index 00000000..16be57df
Binary files /dev/null and b/nextage_ros_bridge/doc/README_nextage_DS4.odt differ
diff --git a/nextage_ros_bridge/package.xml b/nextage_ros_bridge/package.xml
index 34e6752d..f2b705d0 100644
--- a/nextage_ros_bridge/package.xml
+++ b/nextage_ros_bridge/package.xml
@@ -22,7 +22,9 @@
   <build_depend>roslint</build_depend>
   
   <run_depend version_gte="1.0.17">hironx_ros_bridge</run_depend>
+  <run_depend>joy</run_depend>
   <run_depend>nextage_description</run_depend>
+  <run_depend>sensor_msgs</run_depend>
   <run_depend>ueye_cam</run_depend>
 
   <export/>
diff --git a/nextage_ros_bridge/script/nextage_DS4.py b/nextage_ros_bridge/script/nextage_DS4.py
new file mode 100755
index 00000000..ef9201c1
--- /dev/null
+++ b/nextage_ros_bridge/script/nextage_DS4.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2013, Tokyo Opensource Robotics Kyokai Association
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
+#    names of its contributors may be used to endorse or promote products
+#    derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Isaac Isao Saito
+
+from hironx_ros_bridge.ros_client import ROS_Client
+# This should come earlier than later import.
+# See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773
+from nextage_ros_bridge import nextage_client
+
+from hrpsys import rtm
+import argparse
+
+#------------------my definition callback function-------------------
+import rospy
+
+def callback(data):
+#-----------move head of YOW angle-----------------
+    #-----------circle bottun-----------------------
+    if data.buttons[2] == 1 and data.buttons[6] == 1 and data.buttons[7] != 1:
+        robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dw=0.01, tm=0.001, wait=False)
+    #-----------squire bottun----------------------
+    elif data.buttons[0] == 1 and data.buttons[6] == 1 and data.buttons[7] != 1:
+        robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dw=-0.01, tm=0.001, wait=False)
+#--------------------------------------------------
+
+
+#-----------move head of PITCH angle-----------------
+    #-----------circle bottun-----------------------
+    if data.buttons[2] == 1 and data.buttons[6] == 1 and data.buttons[7] == 1:
+        robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dp=0.01, tm=0.001, wait=False)
+    #-----------squire bottun----------------------
+    elif data.buttons[0] == 1 and data.buttons[6] == 1 and data.buttons[7] == 1:
+        robot.setTargetPoseRelative('head', 'HEAD_JOINT1', dp=-0.01, tm=0.001, wait=False)
+#--------------------------------------------------
+
+
+#----------Initial and OFF pose--------------------
+    #-----------x bottun---------------------------
+    if data.buttons[1] == 1:
+        robot.goInitial(tm=1, wait=False)
+    #-----------triangle bottun-------------------
+    elif data.buttons[3] == 1:
+        robot.goOffPose(tm=1)
+#--------------------------------------------------
+
+        
+#---------------move hand control------------------
+    #-----------right hand control-----------------
+    if data.axes[0] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1:
+        robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dy=-data.axes[0]*0.01, tm=0.001, wait=False)
+    elif data.axes[1] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1:
+        robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dx=-data.axes[1]*0.01, tm=0.001, wait=False)
+    elif data.axes[1] != 0 and data.buttons[6] == 1 and data.buttons[4] == 1:
+        robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dz=data.axes[1]*0.01, tm=0.001, wait=False)
+    #-----------left hand control-------------
+    if data.axes[2] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1:
+        robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dy=-data.axes[2]*0.01, tm=0.001, wait=False)
+    elif data.axes[5] != 0 and data.buttons[6] == 1 and data.buttons[4] != 1:
+        robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dx=-data.axes[5]*0.01, tm=0.001, wait=False)
+    elif data.axes[5] != 0 and data.buttons[6] == 1 and data.buttons[4] == 1:
+        robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=data.axes[5]*0.01, tm=0.001, wait=False)
+#--------------------------------------------------
+
+
+    #rospy.loginfo(data.buttons[3])
+
+    #rospy.loginfo(data.axes[0])
+#--------------------------------------------------------------------
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='hiro command line interpreters')
+    parser.add_argument('--host', help='corba name server hostname')
+    parser.add_argument('--port', help='corba name server port number')
+    parser.add_argument('--modelfile', help='robot model file nmae')
+    parser.add_argument('--robot', help='robot modlule name (RobotHardware0 for real robot, Robot()')
+    args, unknown = parser.parse_known_args()
+
+    if args.host:
+        rtm.nshost = args.host
+    if args.port:
+        rtm.nsport = args.port
+    if not args.robot:
+        args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
+    if not args.modelfile:
+        args.modelfile = ""
+
+    # support old style format
+    if len(unknown) >= 2:
+        args.robot = unknown[0]
+        args.modelfile = unknown[1]
+    robot = nxc = nextage_client.NextageClient()
+    # Use generic name for the robot instance. This enables users on the
+    # script commandline (eg. ipython) to run the same commands without asking
+    # them to specifically tell what robot they're using (eg. hiro, nxc).
+    # This is backward compatible so that users can still keep using `nxc`.
+    # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6926
+    robot.init(robotname=args.robot, url=args.modelfile)
+
+    # ROS Client.
+    ros = ROS_Client()
+
+# for simulated robot
+# $ ./hironx.py
+#
+# for real robot
+# ./hironx.py  --host hiro014
+# ./ipython -i hironx.py --host hiro014
+# for real robot with custom model file
+# ./hironx.py  --host hiro014 --modelfile /opt/jsk/etc/NEXTAGE/model/main.wrl
+
+
+#--------------------here is my definition fucntion-----------------------------
+import math
+from sensor_msgs.msg import Joy
+
+print("-----------------hello----------------------")
+rospy.Subscriber("joy", Joy, callback)
+rospy.spin()
+#------------------------------------------------------------------------------
+