MOCAP4ROS2 is the motion capture framework for ROS 2: one interface for every mocap system, and tools that work with all of them.
🎥 Drivers for real systems: OptiTrack (official NatNet SDK or an open NatNet implementation), Vicon (DataStream SDK 1.13) and Qualisys (QTM), plus a simulated system and a Gazebo plugin that simulates a mocap room.
🧩 One interface: markers, rigid bodies and skeletons with tracking validity, stable ids and one frame convention (metres, Z-up), whatever the system.
🤖 Robot ground truth: a TF tree parallel to the robot's, body calibration, map alignment and online ATE/RPE with export for evo.
🧍 Human motion: skeletons as TF and joint angles, zero-phase filtering, gap filling and C3D export.
🖥️ Monitoring and control: ros2 mocap4r2 to list, start, stop, record, export and diagnose the systems, and a terminal UI to watch them live.
MOCAP4ROS2 is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos. One branch builds and is tested on Humble, Jazzy, Kilted, Lyrical and Rolling.
MOCAP4ROS2 started as a Focused Technical Project of ROSIN – ROS-Industrial Quality-Assured Robot Software Components, which received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no. 732287.
| Repository | Rolling | Lyrical | Kilted | Jazzy | Humble | NatNet SDK |
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| mocap4r2_interfaces |  |
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| mocap4r2 |  |
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| mocap4ros2_optitrack |  |
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| mocap4ros2_vicon |  |
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| mocap4ros2_qualisys |  |
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| mocap4ros2_gazebo |  |
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| Repository | Description |
|---|---|
| mocap4r2_interfaces | Messages and services: markers, rigid bodies, skeletons, system announcement and start/stop control. |
| mocap4r2 | Core and tools: base of every mocap system, simulated system, RViz visualization, robot ground truth, ground-truth and human motion tools, CLI and terminal UI. |
| mocap4ros2_optitrack | OptiTrack (Motive) driver: official NatNet SDK or open NatNet implementation, and a NatNet simulator. |
| mocap4ros2_vicon | Vicon (Nexus, Tracker, Shogun) driver on the DataStream SDK 1.13. |
| mocap4ros2_qualisys | Qualisys (QTM) driver on the Qualisys C++ SDK. |
| mocap4ros2_gazebo | Gazebo plugin simulating a mocap room (as MOCAP4ROS2 or as OptiTrack Motive), and robot and human motion demos. |
| Name | Organization | GitHub | Role |
|---|---|---|---|
| Francisco Martín Rico | Universidad Rey Juan Carlos | fmrico | Project Lead |
| José Miguel Guerrero Hernández | Universidad Rey Juan Carlos | jmguerreroh | Developer |
| Francisco Miguel Moreno Olivo | Universidad Rey Juan Carlos | butakus | Developer |
