bvh_broadcaster repository

Repository Summary

Checkout URI https://github.com/mingfeisun/bvh_broadcaster.git
VCS Type git
VCS Version master
Last Updated 2018-11-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
bvh_broadcaster 0.1.0

README

bvh_broadcaster

ROS wiki

bvh_broadcaster: broadcasting bvh motion capture as tf in ROS

Overview

This package broadcasts BVH files (a motion capture data format) as TF transfromations.

Data input

Input contains two string parameters:

  • A path to BVH file, e.g., example.bvh
  • A name of frame for motion capture to be loaded on, e.g., "world" frame, or "odom" frame.

You can find relevant BVH-formatted CMU MoCap from this post. Get BVH-formatted motion capture data from here.

Usage

python bvh_broadcaster.py [-h] [-n NAME] [-l] bvh_file base_frame

positional arguments:
  bvh_file              A path to bvh file that you want to broadcast
  base_frame            An existing frame in rviz on which the skeleton will
                        be loaded

optional arguments:
  -h, --help            show this help message and exit
  -n NAME, --name NAME  Node name, default: BVHBroadcaster
  -l, --loop            Loop broadcasting

For example:

# add execution access
chmod +x scripts/bvh_broadcaster.py
# loop broadcasting bvh to world frame
python scripts/bvh_broadcaster.py example/13_14.bvh world -l

Now, you can view the result in rviz:

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The original actor and BVH file are as follows:

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BVH resources for Motion Capture

CMU provides a lot of useful motion capture data, see CMU MoCap. Nevertheless, these data are not presented in BVH format. You can find relevant BVH-formatted CMU MoCap from this post.

CONTRIBUTING

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