Closed LuckierDodge closed 4 years ago
indigo
to your current distro (e.g. melodic)roslaunch spacenav_node classic.launch
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 readableTopics 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 ±0.68359375spacenav/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 ±0.68359375spacenav/twist
: Package summary says it combines offset and rot_offset into a single message
, it does in fact do thatspacenav/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. 🎉
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.
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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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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@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.
Sure thing. ??
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@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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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