Spacenav Nodes

spacenav_node

Published topics

• spacenav/offset (geometry_msgs/Vector3)

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

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

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

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

Parameters

• zero_when_static

sets values to zero when the spacenav is not moving * static_count_threshold

The number of polls needed to be done before the device is considered "static" * static_trans_deadband

sets the translational deadband * static_rot_deadband

sets the rotational deadband * linear_scale

sets the scale of the linear output

takes a vector (x, y, z) * angular_scale

sets the scale of the angular output

takes a vector (x, y, z)

The linear_scale and angular_scale parameters take vector arguements. The easiest way to set these parameters is with a launch file like so:

<launch>
  <node pkg="spacenav_node" type="spacenav_node" name="$(anon spacenav_node)" output="screen">
    <rosparam param="linear_scale">[.25, .25, .25]</rosparam>
    <rosparam param="angular_scale">[.5, .5, .5]</rosparam>
  </node>
</launch>

Running the spacenav_node

Running the node is straightforward

$rosrun spacenav_node spacenav_node

The node is now publishing to the topics listed above.

Examples

Viewing the output from the spacenav can be done as follows:

$ rostopic echo /spacenav/joy

Could not convert RST to MD: No such file or directory - pandoc