<> <> == Overview == This package broadcasts [[https://research.cs.wisc.edu/graphics/Courses/cs-838-1999/Jeff/BVH.html|BVH files (a motion capture data format)]] as [[http://wiki.ros.org/rviz/DisplayTypes/TF|tf transfromations]]. '''GitHub repository''': https://github.com/mingfeisun/bvh_broadcaster == Data input == Input contains two string parameters: * A path to BVH file, e.g., [[https://research.cs.wisc.edu/graphics/Courses/cs-838-1999/Jeff/Example1.bvh|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 [[https://github.com/mingfeisun/bvh_broadcaster/blob/master/cmu_mocap_bvh.md|this post]]. Get BVH-formatted motion capture data from [[http://www.cgspeed.com/|here]]. == Usage == {{{#!shell 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: {{{#!shell # 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: {{https://raw.githubusercontent.com/mingfeisun/bvh_broadcaster/master/example/example_bvh.gif}} The original actor and BVH file are as follows: {{https://github.com/mingfeisun/bvh_broadcaster/blob/master/example/example_actor.gif?raw=true}}{{https://github.com/mingfeisun/bvh_broadcaster/blob/master/example/example_animator.gif?raw=true}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage == BVH resources for Motion Capture == CMU provides a lot of useful motion capture data, see [[http://mocap.cs.cmu.edu/|CMU MoCap]]. Nevertheless, these data are not presented in BVH format. You can find relevant BVH-formatted CMU MoCap from [[https://github.com/mingfeisun/bvh_broadcaster/blob/master/cmu_mocap_bvh.md|this post]].