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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.

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.