<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04150950v1</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-22T03:50:03+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Seamless integration of Optitrack motion capture with ROS</title>
            <author role="aut">
              <persName>
                <forename type="first">Thakker</forename>
                <surname>Aarsh</surname>
              </persName>
              <email type="md5">3c5df36625f515e96dd11e3d99177aa5</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">aarsh-thakker</idno>
              <idno type="idhal" notation="numeric">1182246</idno>
              <idno type="halauthorid" notation="string">2631816-1182246</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9638-5045</idno>
              <affiliation ref="#struct-1051117"/>
              <affiliation ref="#struct-411575"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Aarsh</forename>
                <surname>Thakker</surname>
              </persName>
              <email type="md5">3c5df36625f515e96dd11e3d99177aa5</email>
              <email type="domain">gmail.com</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2023-10-04 10:52:46</date>
              <date type="whenWritten">2022-06-23</date>
              <date type="whenModified">2024-07-16 11:56:03</date>
              <date type="whenReleased">2023-10-06 09:50:18</date>
              <date type="whenProduced">2022-06-23</date>
              <date type="whenEndEmbargoed">2023-07-04</date>
              <ref type="file" target="https://hal.science/hal-04150950v1/document">
                <date notBefore="2023-07-04"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-04150950v1/file/natnet_ros_cpp-main.zip" id="file-4150950-3650831">
                <date notBefore="2023-07-04"/>
              </ref>
            </edition>
            <edition n="v2">
              <date type="whenSubmitted">2024-01-26 14:25:17</date>
            </edition>
            <edition n="v3">
              <date type="whenSubmitted">2024-06-17 10:36:12</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="1341999">
                <persName>
                  <forename>Aarsh</forename>
                  <surname>Thakker</surname>
                </persName>
                <email type="md5">3c5df36625f515e96dd11e3d99177aa5</email>
                <email type="domain">gmail.com</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04150950</idno>
            <idno type="halUri">https://hal.science/hal-04150950</idno>
            <idno type="halBibtex">aarsh:hal-04150950</idno>
            <idno type="halRefHtml">2022, &lt;a target="_blank" style="word-break: break-all;" href="https://archive.softwareheritage.org/browse/swh:1:dir:ad3030e7ada0db7c2a920e0cfe32664aeeffee13"&gt;&amp;#x27E8;swh:1:dir:ad3030e7ada0db7c2a920e0cfe32664aeeffee13&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">2022, &amp;#x27E8;swh:1:dir:ad3030e7ada0db7c2a920e0cfe32664aeeffee13&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://www.gnu.org/licenses/gpl-3.0-standalone.html">GNU General Public License v3.0 or later</licence>
            </availability>
          </publicationStmt>
          <seriesStmt/>
          <notesStmt>
            <note type="operatingSystem">Linux</note>
            <note type="version">v1.1.0</note>
            <note type="developmentStatus">Active</note>
            <note type="programmingLanguage">C++</note>
            <note type="programmingLanguage">Shell</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Seamless integration of Optitrack motion capture with ROS</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Thakker</forename>
                    <surname>Aarsh</surname>
                  </persName>
                  <email type="md5">3c5df36625f515e96dd11e3d99177aa5</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">aarsh-thakker</idno>
                  <idno type="idhal" notation="numeric">1182246</idno>
                  <idno type="halauthorid" notation="string">2631816-1182246</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9638-5045</idno>
                  <affiliation ref="#struct-1051117"/>
                  <affiliation ref="#struct-411575"/>
                </author>
              </analytic>
              <monogr>
                <imprint/>
              </monogr>
              <idno type="swhid">swh:1:dir:ad3030e7ada0db7c2a920e0cfe32664aeeffee13</idno>
              <ref type="codeRepository" target="https://github.com/L2S-lab/natnet_ros_cpp"/>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">natnet-sdk</term>
                <term xml:lang="en">Optitrack</term>
                <term xml:lang="en">Mocap</term>
                <term xml:lang="en">Motion-capture</term>
                <term xml:lang="en">Driver</term>
                <term xml:lang="en">ROS 1</term>
              </keywords>
              <classCode scheme="halDomain" n="spi">Engineering Sciences [physics]</classCode>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halTypology" n="SOFTWARE">Software</classCode>
              <classCode scheme="halOldTypology" n="SOFTWARE">Software</classCode>
              <classCode scheme="halTreeTypology" n="SOFTWARE">Software</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>This work proposes a new tool to smoothly integrate the latest versions of Motive software for OptiTrack motion capture system to ROS1. The current development uses the NatNet SDK 4.0 interface to transmit and convert the data from Motive software to the ROS topics over the shared network. The package promises user-friendliness and greater functionalities than currently available open-source packages within a single package, such as tracking of individual passive markers, Skeleton data, markers as a pointcloud, etc. Individual passive marker tracking increases the range of detection, the confidence in the position along with the cost reduction of the entire system.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-1051117" status="VALID">
          <idno type="IdRef">133818799</idno>
          <idno type="RNSR">199812842X</idno>
          <idno type="ROR">https://ror.org/00skw9v43</idno>
          <orgName>Laboratoire des signaux et systèmes</orgName>
          <orgName type="acronym">L2S</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.l2s.centralesupelec.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-419361" type="direct"/>
            <relation name="UMR8506" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-419361" status="VALID">
          <idno type="IdRef">241345251</idno>
          <idno type="ROR">https://ror.org/03xjwb503</idno>
          <orgName>Université Paris-Saclay</orgName>
          <desc>
            <address>
              <addrLine>Bâtiment Bréguet, 3 Rue Joliot Curie 2e ét, 91190 Gif-sur-Yvette</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-paris-saclay.fr/fr</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>