vrpn_mocap
- Software
- Perception
- Driver or SDK
A ROS2 client for the VRPN protocol that receives pose data from motion capture systems such as VICON and OptiTrack and publishes it as ROS topics.
Source on GitHub: github.com/alvinsunyixiao/vrpn_mocap (opens in a new tab). Facts read at commit 1414a4f (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 1414a4f (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Connects to a VRPN server by IP address or domain name and port, defaulting to localhost on port 3883.
- Publishes a pose topic for each tracked object, named after the tracker.
- Optionally publishes twist and acceleration topics when the motion capture system reports velocity or acceleration.
- Can be installed from a binary release package or built from source in a ROS2 workspace with colcon.
- Configurable update and refresh frequencies, quality-of-service settings, and support for multiple sensors reporting on the same object.
- Can use timestamps from VRPN so that the interval between frames is preserved.
Written by Robotheca from the project's README (opens in a new tab) at commit 1414a4f.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 25 Sept 2026 on main
- Latest release
- 1.2.0 (25 Sept 2026)
Checked on GitHub on 16 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.