README

Spacenav Node

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 node is straightforward

$ ros2 run spacenav spacenav_node

The node is now publishing to the topics listed above.