MOCAP4ROS2
MOCAP4ROS2#
Motion capture for ROS 2: one interface for OptiTrack, Vicon, Qualisys and Gazebo, and tools that work with all of them — ground truth for robots, human motion analysis, recording and monitoring.
OptiTrack (official NatNet SDK or open implementation), Vicon DataStream 1.13, Qualisys QTM, plus a simulated system and a Gazebo plugin.
Markers, rigid bodies and skeletons with tracking validity, stable ids and one frame convention, whatever the system.
A TF tree parallel to your robot’s, body calibration, map alignment and online ATE/RPE with export for evo.
Skeletons as TF and joint angles, zero-phase filtering, gap filling and C3D export for biomechanics software.
ros2 mocap4r2 lists, starts, stops, records and diagnoses every system;
the TUI shows rates, latency and tracking live.
A driver only translates its system into the MOCAP4ROS2 interfaces: every tool works with it from the first frame.
Citing MOCAP4ROS2#
If you use MOCAP4ROS2 in your research, please cite the reference paper:
F. Martín, J. M. Guerrero, A. García, F. Rodríguez and V. Matellán. MOCAP4ROS2: An Open Source Framework for Motion Capture Systems in Robotics. Proceedings of the 18th International Symposium on Open Collaboration (OpenSym 2022), ACM, 2022.
@inproceedings{martin2022mocap4ros2,
author = {Mart{\'i}n, Francisco and Guerrero, Jos{\'e} Miguel and Garc{\'i}a, A. Alberto and Rodr{\'i}guez, Francisco and Matell{\'a}n, Vicente},
title = {{MOCAP4ROS2}: An Open Source Framework for Motion Capture Systems in Robotics},
booktitle = {Proceedings of the 18th International Symposium on Open Collaboration},
series = {OpenSym '22},
pages = {1--3},
year = {2022},
publisher = {ACM},
address = {Madrid, Spain},
doi = {10.1145/3555051.3555076},
url = {https://doi.org/10.1145/3555051.3555076}
}