A simple ROS interface to the 3DConnexion 3D mouse.
This node is a ROS wrapper around the spacenav library. Refer to their website to install the library on your computer first.
You can then compile the node by running:
$ rosmake threeD_mouse
/three_d_mouse/pose topic: The node publishes geometry_msgs/poseStamped messages to this topic.
publish_frequency: You can change the rate at which the mouse publishes data. Default is 20Hz.
It can be operated in three different modes:
You can change between those modes by pressing the 2 buttons of the mouse. The button of the left changes between translation and rotation mode, while the one on the right changes between both and translation or rotation. A ROS_INFO message is printed when you change modes.