Public bug reported:

Binary package hint: spacenavd

spacenavd is not working log file is:

Spacenav daemon 0.5
using device: /dev/ttyS0
trying to open X11 display ":0.0"
   XAUTHORITY=/root/.Xauthority
No protocol specified
failed to open X11 display ":0.0"
waiting for X socket file to appear

can be worked around with:
sudo xhost +
sudo /etc/init.d/spacenavd restart

log file should look like:

Spacenav daemon 0.5
using device: /dev/ttyS0
trying to open X11 display ":0"
   XAUTHORITY=/root/.Xauthority

ProblemType: Bug
DistroRelease: Ubuntu 11.04
Package: spacenavd 0.5-1
ProcVersionSignature: Ubuntu 2.6.38-8.42-generic 2.6.38.2
Uname: Linux 2.6.38-8-generic x86_64
NonfreeKernelModules: fglrx
Architecture: amd64
Date: Mon Apr 18 16:31:28 2011
InstallationMedia: Kubuntu 11.04 "Natty Narwhal" - Beta amd64 (20110330)
ProcEnviron:
 LANGUAGE=
 PATH=(custom, user)
 LANG=en_US.UTF-8
 SHELL=/bin/bash
SourcePackage: spacenavd
UpgradeStatus: No upgrade log present (probably fresh install)

** Affects: spacenavd (Ubuntu)
     Importance: Undecided
         Status: New


** Tags: amd64 apport-bug natty

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https://bugs.launchpad.net/bugs/765152

Title:
  spacenavd xserver permissions problem

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