This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them usable by robots and a Unified Robotics Description Format (URDF) model of the human kinematics is generated, which can be run and displayed in ROS 3D visualizer, RViz. The code to implement the to-ROS-bridge is a ROS package called xsens_mvn_ros and is available on GitHub at https://github.com/hrii-iit/xsens_mvn_ros The main documentation can be found at https://hrii-iit.github.io/xsens_mvn_ros/index.html

翻译：本文介绍了在领先的惯性动作捕捉系统（用于3D人体追踪）与最常用的机器人软件框架之间建立的桥梁。Xsens系统提供的3D运动学数据被转换为ROS消息格式，以便机器人使用，同时生成了人体运动学的统一机器人描述格式（URDF）模型，该模型可在ROS 3D可视化工具RViz中运行和显示。实现该ROS桥接功能的代码封装于ROS功能包xsens_mvn_ros中，可在GitHub上获取：https://github.com/hrii-iit/xsens_mvn_ros。主要文档详见：https://hrii-iit.github.io/xsens_mvn_ros/index.html