motion_capture_tracking
- Software
- Perception
- Driver or SDK
A ROS 2 package that receives pose and marker data from several motion capture systems and publishes rigid body poses via tf2 and a poses topic.
Made by Intelligent Multi-Robot Coordination Lab @ TU Berlin.
Source on GitHub: github.com/IMRCLab/motion_capture_tracking (opens in a new tab). Facts read at commit 64d3af2 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 64d3af2 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Supports VICON, Qualisys, OptiTrack, VRPN, NOKOV, FZMotion and Motion Analysis systems.
- Tracks rigid bodies using the vendor's software when marker arrangements are unique.
- Tracks rigid bodies frame-by-frame with ICP when several bodies share the same marker arrangement.
- Tracks single unlabeled markers with optimal per-frame assignment, which is more robust to outliers.
- Can mix the three tracking modes in one setup.
- Built on the libmotioncapture and librigidbodytracker C++ libraries.
Written by Robotheca from the project's README (opens in a new tab) at commit 64d3af2.
Getting started
- Difficulty
- Intermediate
- Hardware it needs, as the project states it
- Requires a ROS 2 workspace built with colcon. OptiTrack's closed-source SDK backend is only available on x64 Linux. NOKOV needs its SDK added manually and a rebuild.
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 21 Jul 2026 on ros2
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.