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.