Dear ROS community,
I want to open a discussion with the members of the ROS community and companies interested in motion capture systems. We want to receive feedback on the proposed design and open a discussion about messages, formats, and processes. We are currently doing some experiments to decide the adequate QoS of the communication between nodes.
We will support Vicon and Technaid IMUs system, that will be used in Eurobench. Our design lets to replace any MOCAP system (for example, to use Optitrack instead of Vicon), or to incorporate new ones. The next figure shows the current design:
- Driver Layer: Nodes of this layer are dependent on each MOCAP System vendor. All vision-based nodes would publish messages in the same format. The same for IMU-based systems, or any other type of MOACP.
- Composer Layer: Nodes of this layer are independent of a particular MOCAP System. The output of these nodes are TFs, and maybe some metadata.
- Application Layer: This layer contains applications that use the information from MOCAP Systems. In the case of Eurobench, there will be a skeleton composer and other performance measurement components.
We want that this project will be useful to the ROS community beyond the funding projects, and this is the reason why we would like to incorporate this discussion to everyone interested in using or contributing to this project.