This is a ROS2 package that streams the VRPN data from Optitrack to PX4 using the appropriate transformations.
Package dependencies are vrpn_client_ros and px4_ros_com.
Clone the repo under the src folder of your colcon_ws
To build run:
cd <path/to/colcon_ws>
and
colcon build --pacakegs-select px4_vrpn_pubsub
To run the node:
cd <path/to/colcon_ws>
and then
ros2 run px4_vrpn_pubsub mocap_pubsub