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Schnilzclalancette
Schnilz
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clalancette
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spacenav node changed for ros2 (#194)
* spacenav node changed for ros2 Co-authored-by: Chris Lalancette <[email protected]>
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‎spacenav_node/CHANGELOG.rst‎ renamed to ‎spacenav/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package spacenav_node
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package spacenav
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.13.0 (2019-06-24)
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-------------------

‎spacenav/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(spacenav)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(SPNAV REQUIRED)
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include_directories(include)
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add_library(spacenav
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SHARED
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src/spacenav.cpp)
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target_include_directories(spacenav
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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ament_target_dependencies(spacenav
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"geometry_msgs"
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"rclcpp"
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"sensor_msgs")
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target_link_libraries(spacenav spnav)
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# Install targets
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install(TARGETS spacenav
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ARCHIVE DESTINATION lib/${PROJECT_NAME}
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LIBRARY DESTINATION lib/${PROJECT_NAME}
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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rclcpp_components_register_node(spacenav
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PLUGIN "spacenav::Spacenav"
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EXECUTABLE spacenav_node)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎spacenav_node/LICENSE‎ renamed to ‎spacenav/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2008, Willow Garage, Inc.
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Copyright (c) 2020, Nils Schulte
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All rights reserved.
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Redistribution and use in source and binary forms, with or without

‎spacenav/README.md‎

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# Spacenav Node #
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##### Published topics #####
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* `spacenav/offset` (geometry_msgs/msg/Vector3)
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Publishes the linear component of the joystick's position. Approximately normalized to a range of -1 to 1.
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* `spacenav/rot_offset`(geometry_msgs/msg/Vector3)
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Publishes the angular component of the joystick's position. Approximately normalized to a range of -1 to 1.
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* `spacenav/twist` (geometry_msgs/msg/Twist)
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Combines offset and rot_offset into a single message.
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* `spacenav/joy` (sensor_msgs/msg/Joy)
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Outputs the spacenav's six degrees of freedom and its buttons as a joystick message.
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##### Parameters #####
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sets values to zero when the spacenav is not moving
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* `zero_when_static` (boolean, default: true)
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* `static_count_threshold` (int, default: 30)
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The number of polls needed to be done before the device is considered "static"
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* `static_trans_deadband` (float, default: 0.1)
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sets the translational deadband
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* `static_rot_deadband` (float, default: 0.1)
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sets the rotational deadband
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* `linear_scale/x` (float, default: 1)
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* `linear_scale/y` (float, default: 1)
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* `linear_scale/z` (float, default: 1)
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sets the scale of the linear output
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* `angular_scale/x` (float, default: 1)
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* `angular_scale/y` (float, default: 1)
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* `angular_scale/z` (float, default: 1)
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sets the scale of the angular output
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## Running the spacenav node ##
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Running the node is straightforward
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```
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$ ros2 run spacenav spacenav
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```
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The node is now publishing to the topics listed above.

‎spacenav/cmake/FindSPNAV.cmake‎

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# Find the spnav library and header.
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#
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# Sets the usual variables expected for find_package scripts:
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#
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# spnav_INCLUDE_DIR - header location
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# spnav_LIBRARIES - library to link against
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# spnav_FOUND - true if pugixml was found.
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if(UNIX)
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find_path(spnav_INCLUDE_DIR spnav.h)
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find_library(spnav_LIBRARY
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NAMES
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spnav libspnav
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)
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# Support the REQUIRED and QUIET arguments, and set spnav_FOUND if found.
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(SPNAV DEFAULT_MSG
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spnav_LIBRARY
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spnav_INCLUDE_DIR)
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if(spnav_FOUND)
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set(spnav_LIBRARIES ${spnav_LIBRARY})
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endif()
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mark_as_advanced(
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spnav_LIBRARY
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spnav_INCLUDE_DIR)
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endif()

‎spacenav/include/spacenav/spacenav.hpp‎

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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef SPACENAV__SPACENAV_HPP_
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#define SPACENAV__SPACENAV_HPP_
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#include <rclcpp/rclcpp.hpp>
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#include <geometry_msgs/msg/twist.hpp>
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#include <geometry_msgs/msg/vector3.hpp>
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#include <sensor_msgs/msg/joy.hpp>
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#include "spnav.h" // NOLINT
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namespace spacenav
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{
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class Spacenav final : public rclcpp::Node
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{
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public:
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explicit Spacenav(const rclcpp::NodeOptions & options);
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~Spacenav();
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private:
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void poll_spacenav();
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OnSetParametersCallbackHandle::SharedPtr callback_handler;
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rclcpp::TimerBase::SharedPtr timer_;
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rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr publisher_offset;
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rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr publisher_rot_offset;
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rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_twist;
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rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr publisher_joy;
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bool spacenav_is_open = false;
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double full_scale;
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double linear_scale[3];
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double angular_scale[3];
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int static_count_threshold;
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bool zero_when_static;
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double static_trans_deadband;
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double static_rot_deadband;
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spnav_event sev;
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bool joy_stale = false;
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int no_motion_count = 0;
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bool motion_stale = false;
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double normed_vx = 0;
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double normed_vy = 0;
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double normed_vz = 0;
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double normed_wx = 0;
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double normed_wy = 0;
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double normed_wz = 0;
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};
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} // namespace spacenav
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#endif // SPACENAV__SPACENAV_HPP_

‎spacenav/launch/classic-launch.py‎

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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# * Neither the name of the Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(package='spacenav', executable='spacenav',
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name='spacenav', namespace='', output='screen',
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parameters=[{'zero_when_static': True,
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'static_count_threshold': 30}]),
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])

‎spacenav/launch/no_deadband-launch.py‎

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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# * Neither the name of the Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(package='spacenav', executable='spacenav',
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name='spacenav', namespace='', output='screen',
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parameters=[{'zero_when_static': False,
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'static_trans_deadband': 0.0,
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'static_rot_deadband': 0.0}]),
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])

‎spacenav/launch/static_deadband-launch.py‎

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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# * Neither the name of the Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(package='spacenav', executable='spacenav',
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name='spacenav', namespace='', output='screen',
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parameters=[{'zero_when_static': False,
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'static_count_threshold': 30,
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'static_trans_deadband': 40.0,
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'static_rot_deadband': 40.0}]),
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])

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