Quickstart: a mocap system in two minutes#

No hardware is needed: mocap4r2_sim_driver is a mocap system that streams two moving rigid bodies with markers, noise, occlusions and latency, exactly as a real driver does.

Start the simulated system (it configures and waits for a start request):
```
$ ros2 launch mocap4r2_sim_driver sim_driver.launch.yaml
```

In another terminal, list the systems and start it:

$ ros2 mocap4r2 list
SYSTEM       TYPE  STATE     FRAME  RATE    SESSION
/sim_driver  sim   inactive  mocap  120 Hz  -
$ ros2 mocap4r2 start sim_driver --session trial1
/sim_driver: started

Watch it:

$ ros2 mocap4r2 hz
$ ros2 mocap4r2 bodies sim_driver
$ ros2 launch mocap4r2_marker_viz marker_viz.launch.yaml

Or open the terminal UI, where s/x start and stop the selected system:
```
$ ros2 mocap4r2 tui
```

Record a session and export it:

$ ros2 mocap4r2 record --session walk01        # Ctrl-C to finish
$ ros2 mocap4r2 export walk01 --format c3d

Every command works the same with a real system: replace the simulated driver by the driver of your system.

The real OptiTrack driver, without Motive#

natnet_simulator plays Motive on this computer; the OptiTrack driver connects to it exactly as it would to Motive:

$ ros2 run mocap4r2_optitrack_driver natnet_simulator
$ ros2 launch mocap4r2_optitrack_driver optitrack_driver.launch.yaml \
    params_file:=$(ros2 pkg prefix mocap4r2_optitrack_driver)/share/mocap4r2_optitrack_driver/config/optitrack_simulator.yaml
$ ros2 mocap4r2 tui

In the TUI the status box shows the driver connected to FakeMotive; the Start button activates it and the bodies appear below. Stop natnet_simulator while the driver is active and the link turns to connected, no data.