From c8d36e0a35661e6b19fe0b84f1f787d98704a406 Mon Sep 17 00:00:00 2001 From: Borong Yuan Date: Wed, 15 Feb 2023 16:04:31 +0800 Subject: [PATCH] add spacenav example Signed-off-by: Borong Yuan --- .../launch/servo_spacenav_input.launch.py | 17 +++++++++++++++++ .../realtime_servo/realtime_servo_tutorial.rst | 7 +++++++ 2 files changed, 24 insertions(+) create mode 100644 doc/examples/realtime_servo/launch/servo_spacenav_input.launch.py diff --git a/doc/examples/realtime_servo/launch/servo_spacenav_input.launch.py b/doc/examples/realtime_servo/launch/servo_spacenav_input.launch.py new file mode 100644 index 0000000000..e90e4ba170 --- /dev/null +++ b/doc/examples/realtime_servo/launch/servo_spacenav_input.launch.py @@ -0,0 +1,17 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription( + [ + Node( + package="spacenav", + executable="spacenav_node", + name="spacenav", + output="screen", + parameters=[{"zero_when_static": True, "use_twist_stamped": True}], + remappings=[("spacenav/twist", "servo_node/delta_twist_cmds")], + ), + ] + ) diff --git a/doc/examples/realtime_servo/realtime_servo_tutorial.rst b/doc/examples/realtime_servo/realtime_servo_tutorial.rst index 53b3b14d5b..05db27e6c8 100644 --- a/doc/examples/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/examples/realtime_servo/realtime_servo_tutorial.rst @@ -31,6 +31,13 @@ Make a service request to start Servo :: You should be able to control the arm with your controller now, with MoveIt Servo automatically avoiding singularities and collisions. +Using a SpaceMouse +^^^^^^^^^^^^^^^^^^^^ + +If you have a 3Dconnexion SpaceMouse, you can send 6DoF Cartesian commands using a single joystick. With the demo still running, in a new terminal, run :: + + ros2 launch moveit2_tutorials servo_spacenav_input.launch.py + Without a Controller ^^^^^^^^^^^^^^^^^^^^