Test 3D Mouse

[LuckierDodge]

Try to get the 3D Mouse up and running. The ROS node for the one we have is here: http://wiki.ros.org/spacenav_node.

Primarily concerned with getting either the /joy or /twist topics

[DrakeProvost]

• followed link that Ryan posted
• when doing the 2 installations, make sure to switch indigo to your current distro (e.g. melodic)

[DrakeProvost]

• ssh'ed into shatterdome, and then installed the spacenav stuff there

[DrakeProvost]

• set up ROS on my user account on shatterdome using bits from this tutorial: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
• ran roslaunch spacenav_node classic.launch
• opened a new terminal
• to view any of the 4 topics described in the spacenav_node package summary, use rostopic echo /topic_name to view messages published to the topic, and rostopic echo -c /topic_name to view messages published and have the screen cleared between each update, which is more readable

[DrakeProvost]

Topics tested with notes about each one:

• spacenav/offset: The package summary says Publishes the linear component of the joystick's position. Approximately normalized to a range of -1 to 1, but the range seems to be less than that. All 3 linear axes are ±0.68359375
• spacenav/rot_offset: Same deal as spacenav/offset. The package summary says Publishes the angular component of the joystick's position. Approximately normalized to a range of -1 to 1., but the ranges for all 3 rotational axes are ±0.68359375
• spacenav/twist: Package summary says it combines offset and rot_offset into a single message, it does in fact do that
• spacenav/joy: The stuff in the header is the time the data is received from the joystick, according to the package summary's documentation. For the axes, they are as follows: [linear x, linear y, linear z, angular x, angular y, angular z]. If holding the 3D mouse so the cord is pointing toward your body and the logo is pointing away, then the buttons are as follows: [right button, left button].

Everything is publishing successfully, so the 3D mouse works. 🎉

[LuckierDodge]

So, one thing to note here: "normalized" in this context is probably referring to the magnitude of the total vector. i.e. the maximum length of the vector defined by <x, y, z> is approximately <= 1. Remember that you can move along multiple dimensions simultaneously. Same for rotation.

[DrakeProvost]

Ah ok, that makes sense. Those upper and lower bounds still seem to hold true for any 1 axis because they seem to be the physical limits of the mouse (like, pushing or pulling the z axis to its fullest extent would give the +-0.6 ish number regardless of the x and y, and this seemed to be the case for all 6 degrees of freedom), but further testing is always a good idea so we can better understand how it normalizes each dimension when they're not at the high or low bounds. Thanks for the note!

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From: Ryan Lewis notifications@github.com Sent: Wednesday, October 16, 2019 11:19:45 AM To: NIURoverTeam/RoverCoreOS RoverCoreOS@noreply.github.com Cc: DrakeProvost mddmprovost@gmail.com; Assign assign@noreply.github.com Subject: Re: [NIURoverTeam/RoverCoreOS] Test 3D Mouse (#16)

So, one thing to note here: "normalized" in this context is probably referring to the magnitude of the total vector. i.e. the maximum length of the vector defined by <x, y, z> is approximately <= 1. Remember that you can move along multiple dimensions simultaneously. Same for rotation.

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[LuckierDodge]

@DrakeProvost sometime this week can you writeup a doc page in the wiki with this info? Installation, messages used and supported, any tips/tricks etc.

[DrakeProvost]

Sure thing. ??

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From: Ryan Lewis notifications@github.com Sent: Saturday, October 19, 2019 7:58:33 PM To: NIURoverTeam/RoverCoreOS RoverCoreOS@noreply.github.com Cc: DrakeProvost mddmprovost@gmail.com; Mention mention@noreply.github.com Subject: Re: [NIURoverTeam/RoverCoreOS] Test 3D Mouse (#16)

@DrakeProvosthttps://github.com/DrakeProvost sometime this week can you writeup a doc page in the wiki with this info? Installation, messages used and supported, any tips/tricks etc.

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