spacemouse_cartesio_bridge

This package containes a simple Python node for ROS noetic that interfaces CartesI/O with SpaceMouse device.

Installation

Follow the installation steps for the spacenav_node ROS package:

sudo apt install spacenavd
sudo apt install ros-noetic-spacenav-node

Also install the Python library pynput:

pip install pynput

Node Parameters

• joy_topic (string): SpaceMouse output topic of type sensor_msgs.msg.Joy (default: "spacenav/joy")
• tf_prefix (string): CartesI/O tf_prefix in use (default: "ci")
• deadband (double): Set to zero axes values below deadband (default: 0.4)
• lin_scale (double): Multiply linear axes values by lin_scale before seding velocity references (default: 1.0)
• ang_scale (double): Multiply angular axes values by ang_scale before seding velocity references (default: 1.0)
• possible_tasks (list(string)): List of the names of the Cartesian tasks we want to control (NO default, must be set)

Launching

After starting a CartesI/O environment. On a separate terminal, run:

spacenavd
roslaunch spacemouse_cartesio_bridge start.launch

Modify the parameter setting in the start.launch file according to your application.

Usage

• Select the desired task to control by pressing the 'Enter' button on your keyboard (it will scroll throughout the tasks defined in the possible_tasks) param.
• Activate the 'Velocity Control Mode' for the selected task by pressing the left button on the SpaceMouse. NOTE: You can control the robot through the SpaceMouse only in 'Velocity Control Mode'.
• Set the reference frame for the velocity reference to either GLOBAL ("world") or LOCAL (the controller frame) by pressing the right button on the SpaceMouse

Try out on Docker

You can try the SpaceMouse CartesI/O bridge on a docker example with a simulated Tiago Dual (omnibase) developed by PAL Robotics (CartesI/O configuration at the link: (https://github.com/hucebot/tiago_dual_cartesio_config)).

To build the docker image, from the spacemouse_cartesio_bridge/docker folder, run:

docker build -t opensot_spacemouse .

To run the container, form the spacemouse_cartesio_bridge/docker folder, run:

bash run_docker.sh

Then run:

spacenavd
terminator

Inside the terminator, open two terminal. In one run:

roslaunch tiago_dual_cartesio_config cartesio.launch

And in the second, run:

roslaunch spacemouse_cartesio_bridge start.launch