Systems#

System

Package

Connection

Data

OptiTrack (Motive)

mocap4r2_optitrack_driver

NatNet 3.0–4.5, multicast or unicast; official SDK or open implementation

markers, rigid bodies, skeletons

Vicon (Nexus, Tracker, Shogun)

mocap4r2_vicon_driver

DataStream SDK 1.13 (included)

markers, subjects, segments

Qualisys (QTM)

mocap4r2_qualisys_driver

RT protocol, Qualisys C++ SDK (included), TCP or UDP

markers, 6DOF bodies, skeletons

Gazebo

mocap4r2_gz_plugin

plugin of the world; ROS output or simulated Motive

markers, rigid bodies

Simulated

mocap4r2_sim_driver

none

markers, rigid bodies with noise, occlusions and drops

All systems share the parameters frame_id, publish_markers, publish_rigid_bodies, publish_skeletons, publish_tf, tf_prefix, qos.reliability, qos.depth and autostart (none, configure — the default: connect and wait for START — or activate).