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Mocap Interfaces

This repository implements standards for integrating Motion Capture Systems (mocap systems) with ROS 2. It provides the mocap_interfaces message types for managing and publishing motion capture data, facilitating interoperability and reusability across different applications.

Prerequisites

Before you begin, ensure you have ROS 2 Rolling installed on your system. Follow the link below for installation:

Features

  • Standardized Interfaces: Utilizes the mocap_interfaces message types, including:
    • Marker.msg
    • MarkerArray.msg
    • RigidBody.msg
    • RigidBodyArray.msg
  • Quality of Service: Ensures reliable data transmission using the SensorDataQoS().reliable() QoS.
  • Coordinate Frames: Defines a structure for coordinate frames, recommending the use of a mocap frame.

Installation

To get started with this project, clone the repository and follow the setup instructions for integrating with your ROS 2 workspace.

git clone https://github.com/MOCAP4ROS2-Project/mocap_interfaces.git

Usage

Once installed, you can utilize the mocap_interfaces message types in your ROS 2 nodes to manage and publish motion capture data.

Contributing

Contributions are welcome! Please open a pull request to contribute to this project.

License

This project is licensed under the public domain.

References

Implementations adhering to this REP are available through the MOCAP4ROS2 Project GitHub organization.