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For anyone who has problems with following this guide to update their bluez installation:

the easiest way would be to use my two experimental scripts:

To get them into your RetroPie-Setup menu use these commands:

cd ~/RetroPie-Setup/scriptmodules/supplementary
sudo wget https://raw.githubusercontent.com/m42i/RetroPie-Setup/release/scriptmodules/supplementary/bluezps3.sh
sudo wget https://raw.githubusercontent.com/m42i/RetroPie-Setup/release/scriptmodules/supplementary/bluez.sh

(I’m not sure you need sudo, but just in case you do)

Now go back to the RetroPi-Setup directory and start the setup as usual

cd ~/RetroPie-Setup
sudo ./retropie-setup.sh

Now you can find two new items under “Experimental packages”. First choose “bluez – Install (PS3) bluetooth controller driver (BLUEZ)”
and then
“bluezps3 – Pair PS3 bluetooth controller (BLUEZ)”

Hopefully this helps.