RViz

$ ros2 launch mocap4r2_marker_viz marker_viz.launch.yaml namespace:=lab

mocap4r2_marker_viz turns the data of a system into mocap_viz (MarkerArray): labeled markers (green), unlabeled (white), occluded (red, transparent), rigid bodies as axes with their names (“lost” when not tracked) and skeletons as bones and joints. It is throttled to max_rate (30 Hz) because mocap rates are higher than what RViz can draw, and clears the scene when no data arrives for stale_timeout seconds. Enable publish_tf in the driver to also see every rigid body as a TF frame.