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I was never able to get one to work with my stock, unrooted Galaxy Nexus. It works on my stock, unrooted TF300 with ICS via Bluetooth, but you have to connect it via USB first before the Bluetooth will pick it up.
The Sixaxis Controller app that you linked to works well on a rooted RAZR/MAXX though.
Understood, but I will throw this in there - if you take the time to read up on it, rooting carries little risk. It is the other things that rooting allows you to do that may be risky if you are not careful. Still, at this point, it's hard to brick your phone so long as you don't start messing with ICS leaks. If Moto's timeline is correct, however, you will likely see ICS over the next 12 days though, so it's worth waiting to see.
The only reason I rooted my previous phone was to freeze bloatware. Since ICS can natively do that, the only reason I would root is to use a sixaxis controller. I wish there was still a one click root out there though.