I see. Sorry, can't help you there. We use the recording feature in Nexus (I guess that's our equivalent to 'motion capture studio' -- Vicon has a few different frontends to their equipment) very rarely. Seems to me that you might be able to use a sensor_msgs/PointCloud2 for what you're talking about though. You might want to ask on pcl-users. Best of luck, Pat On Mon, Dec 13, 2010 at 1:26 PM, David Lu!! wrote: > I think our use cases are a little different. Your code (I think) broadcasts > the current transform reading in the motion capture studio. I want to be > able to examine files saved in whatever format and watch them in Rviz. > I've been looking at ASF/AMC files, and don't know as much about C3D, but I > was thinking that a msg that contains a structured pointcloud (i.e. with a > skeleton) would be common to all MoCap systems. > -David!! > > On Mon, Dec 13, 2010 at 2:52 PM, Patrick Bouffard > wrote: >> >> Hi David, >> >> I haven't had a chance to write any documentation yet. What do you >> mean by data structures? msg files? I'm only using standard ones - a >> TF frame is broadcast and also a geometry_msgs/TransformStamped >> message is published. >> >> I think somewhere in the depths of ros-pkg or maybe it was wg-ros-pkg, >> I found something to do with PhaseSpace and I think it defined its own >> messages for the marker locations and such. >> >> Not sure when I'll get the chance to write up some docs but in the >> meantime, I can try to answer questions if you have them. The node >> should be pretty straightforward to use if your use case is similar to >> mine--take a look at the test.launch file. >> >> Cheers, >> Pat >> >> On Mon, Dec 13, 2010 at 12:35 PM, David Lu!! wrote: >> > Hey Pat, >> > Is there any documentation for your node? I've just started looking at >> > motion capture stuff and yours was the only related node I found. I'd be >> > interested to see if there was some common data structures that can be >> > used >> > for other formats as well. >> > -David!! >> > > >