Empties To Bones is an Artell add-on for Blender that turns a hierarchy of empty objects into an armature made of bones. With one click, an animated or static empties chain becomes a proper armature, ready for tasks such as animation retargeting and animation export.
The conversion handles bone orientation automatically, generating an armature with consistent axes that is Blender armature compliant, and it includes orientation axes options. Empty shapes can be carried over as custom bone shapes, and meshes can be re-parented or skinned with vertex groups from empties to bones automatically. Animation baking is built for speed, baking thousands of frames in a few seconds.
A free version is available on GitHub, while the developer also provides support messages and ongoing maintenance and bug fixing to keep the add-on compatible with the latest Blender versions. It supports Blender 2.93 through 5.1.