Package Summary

Tags No category tags.
Version 3.0.0
License BSD
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version ros2
Last Updated 2021-03-12
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS interface to the 3Dconnexion SpaceNavigator 6DOF joystick.

Additional Links


  • Jonathan Bohren


  • Stuart Glaser
  • Blaise Gassend
  • Nils Schulte

Spacenav Node

Published topics
  • spacenav/offset (geometry_msgs/msg/Vector3)

Publishes the linear component of the joystick's position. Approximately normalized to a range of -1 to 1. * spacenav/rot_offset(geometry_msgs/msg/Vector3)

Publishes the angular component of the joystick's position. Approximately normalized to a range of -1 to 1. * spacenav/twist (geometry_msgs/msg/Twist)

Combines offset and rot_offset into a single message. * spacenav/joy (sensor_msgs/msg/Joy)

Outputs the spacenav's six degrees of freedom and its buttons as a joystick message.


sets values to zero when the spacenav is not moving * zero_when_static (boolean, default: true) * static_count_threshold (int, default: 30)

The number of polls needed to be done before the device is considered "static" * static_trans_deadband (float, default: 0.1)

sets the translational deadband * static_rot_deadband (float, default: 0.1)

sets the rotational deadband * linear_scale/x (float, default: 1) * linear_scale/y (float, default: 1) * linear_scale/z (float, default: 1)

sets the scale of the linear output * angular_scale/x (float, default: 1) * angular_scale/y (float, default: 1) * angular_scale/z (float, default: 1) sets the scale of the angular output

Running the spacenav node

Running the node is straightforward

$ ros2 run spacenav spacenav

The node is now publishing to the topics listed above.


Changelog for package spacenav

3.0.0 (2021-03-12)

  • spacenav node changed for ros2 (#194)
  • Contributors: Nils Schulte

1.13.0 (2019-06-24)

1.12.0 (2018-06-11)

  • Adding tested spacenav scaling
  • Added README
  • Addressed numerous outstanding PRs.
  • Changed package xml to format 2
  • Reduce the number of scale params in spacenav_node
  • Add a scale parameter to each axis in spacenav_node Do not apply the scale to the joy topic.
  • Contributors: Ga

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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No message files found.


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No plugins found.

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