# Streaming Mocap Data into ROS by OSC

[ROS](https://www.ros.org/) is an open-source framework for developing robotic applications. It allows you to connect sensors, control systems, visualization tools, and more within a unified architecture.

Motion data captured with MOVIN TRACIN and MOVIN Studio can be streamed in real time or played back from recorded files within a ROS 2 environment. The data can then be retargeted to a robot model, allowing you to visualize its movement in RViz2 or integrate it directly into your robot control pipeline for further development.

### Prerequisites

Before integrating with ROS, please make sure your environment is properly set up as described below.

* **ROS 2:**
  * Humble (tested)
* **Required ROS 2 Packages:**
  * `robot_state_publisher`
  * `rvix2`
  * `xacro`
  * `tf2_ros`
* **Required pip Packages:**
  * `numpy`
  * `scipy`
  * `movin-sdk-python` (Required for BVH file loading and real-time mode)

{% stepper %}
{% step %}

### Download Motion-Player-ROS

```
cd ~/ros2_ws/src
git clone https://github.com/MOVIN3D/Motion-Player-ROS
```

* Navigate to the `src` folder of your ROS 2 workspace and clone the [Motion-Player-ROS repository](https://github.com/MOVIN3D/Motion-Player-ROS).
  {% endstep %}

{% step %}

### Install MOVIN SDK Python

```
pip install git+https://github.com/MOVIN3D/MOVIN-SDK-Python.git
```

* Before proceeding, check that all required packages from the [#prerequisites](#prerequisites "mention") section are installed.
* The `movin-sdk-python` package is necessary for BVH file loading and real-time live streaming.
  * For more information about MOVIN-SDK-Python, please refer to the [repository link](https://github.com/MOVIN3D/MOVIN-SDK-Python).
    {% endstep %}

{% step %}

### Build the Package

```
cd ~/ros2_ws
colcon build --packages-select motion_player
```

* Move to the root of your workspace and build the `motion_player` package.
  {% endstep %}

{% step %}

### Source the Workspace

```
source ~/ros2_ws/install/setup.bash
```

* After building, source the `install/setup.bash` file in your terminal session.
  * This step is required for ROS to recognize the `motion_player` package.
    {% endstep %}

{% step %}

### Run Real-Time Mode

```
ros2 launch motion_player realtime.launch.py
```

* Launch real-time mode to receive motion data from MOVIN Studio.
* In real-time mode, you can:
  * Real-time Retargeting: Retargeting motion data instantly to a robot model
  * Real-time Visualization: Visualize both the mocap skeleton and the retargeted robot motion simultaneously in RViz2

```
ros2 launch motion_player realtime.launch.py port:=11235 human_height:=1.80 skeleton_offset_x:=1.5
```

* You can customize parameters as needed: 

<table><thead><tr><th width="175.76953125">Argument</th><th width="169.12890625">Default</th><th>Description</th></tr></thead><tbody><tr><td><code>port</code></td><td><code>11235</code></td><td>UDP port to listen for OSC mocap data</td></tr><tr><td><code>robot_type</code></td><td><code>unitree_g1</code></td><td>Target robot type (<code>unitree_g1</code> or <code>unitree_g1_with_hands</code>)</td></tr><tr><td><code>human_height</code></td><td><code>1.75</code></td><td>Human height in meters for scaling</td></tr><tr><td><code>skeleton_offset_x</code></td><td><code>1.0</code></td><td>X offset to place skeleton beside robot</td></tr><tr><td><code>urdf_file</code></td><td>(package default)</td><td>Path to custom URDF file</td></tr><tr><td><code>rviz_config</code></td><td>(package default)</td><td>Path to custom RViz config file</td></tr></tbody></table>

You may also run the node directly using the `--realtime` flag:

```
ros2 run motion_player motion_player --realtime --ros-args -p port:=11235 -p human_height:=1.8
```

{% endstep %}

{% step %}

### Start OSC Streaming in MOVIN Studio&#x20;

<figure><img src="/files/CrznIvoTXFBkoqlDsOXg" alt=""><figcaption></figcaption></figure>

* Start OSC streaming in MOVIN Studio.
* Please check that the port number configured in ROS matches the port number set in MOVIN Studio.
  {% endstep %}
  {% endstepper %}


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