Streaming individual marker data in ROS2

[desser18]

Hi,

I am using the mocap4ros2 package to stream rigid body data to roshumble. I am able to receive the rigid bodies (position and orientation) for each tracked rigid body in mocap. However, I also want to stream the raw markers that are part of the rigid body. the markers array inside each rigid body is empty, even when I am streaming the rigid body and receiving valid poses. I have also tried unchecking my rigid body, and seeing if the markers appear in the markers topic, but that is also empty. Any help would be appreciated.

[sunnyinactive]

The first place to check is the data source. Your motion capture software needs to be explicitly configured to stream raw marker data. In the `Streaming Properties` section, make sure `Unlabeled Markers` is selected. This is important to get all detected markers, not just those assigned to rigid bodies. Also, select `Rigid Bodies` and make sure `Markers` is selected in the Rigid Body settings if you want the markers to be included in the rigid body notification.