The main goal of MOCAP4ROS2 project is to standardize motion capture (MOCAP) systems in the ROS community, as well as provide an implementation as ROS2 packages of messages, formats, tools, and nodes. MOCAP4ROS will introduce a discussion in the ROS community of formats and messages to be implemented by any developer of MOCAP systems for ROS/ROS2. This project will provide support for Optitrack, for MOCAP systems based on vision, and Technaid sensors, for MOCAP systems based on motion sensors. As a use case, we will test our implementation in exoskeletons and human tracking, measuring accuracy and real-time characteristics.