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add spacenav example #591

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17 changes: 17 additions & 0 deletions doc/examples/realtime_servo/launch/servo_spacenav_input.launch.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
return LaunchDescription(
[
Node(
package="spacenav",
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An <exec_depend> on spacenav should be added to root/package.xml

executable="spacenav_node",
name="spacenav",
output="screen",
parameters=[{"zero_when_static": True, "use_twist_stamped": True}],
remappings=[("spacenav/twist", "servo_node/delta_twist_cmds")],
),
]
)
7 changes: 7 additions & 0 deletions doc/examples/realtime_servo/realtime_servo_tutorial.rst
Original file line number Diff line number Diff line change
Expand Up @@ -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
^^^^^^^^^^^^^^^^^^^^

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