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.

Parameters

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_node

The node is now publishing to the topics listed above.

Changelog for package spacenav

3.3.0 (2023-10-31)

3.2.0 (2023-10-10)

• add option to use TwistStamped (#251)
• Changed name of executable in launch files to match installed node (#230)
• Fix publishing of spacenav button values (#243)
• Fix from-source build with missing dependencies (#242)
• Installing libspacenav.so to lib/ for spacenav_node execution via ros2 run (#229)
• Contributors: Borong Yuan, Stefan Scherzinger, chriseichmann

3.1.0 (2022-01-28)

• Install includes to include/ and misc CMake fixes (#225)
• Style fixes for newer cpplint.
• Contributors: Chris Lalancette, Shane Loretz

3.0.1 (2022-01-28)

• Make sure to ament_target_dependencies on rclcpp_components (#209)
• Contributors: Chris Lalancette

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