Terminal UI

$ ros2 mocap4r2 tui

The top table lists every system: lifecycle state, measured and nominal rate, latency, dropped frames, diagnostics status and session. The bottom table shows the rigid bodies of the selected system: tracked or lost, tracking ratio, position and error, and the counts of labeled, unlabeled and occluded markers.

Key	Action
↑ ↓	select a system
s / x	start / stop the selected system
a / z	start / stop all systems
n	set the session name used by the next start
q	quit

It works over SSH, in the robot or in the mocap room computer.

Note

The TUI uses Textual, included in the package. On Humble (Ubuntu 22.04) the system Python packages are too old for it; install a newer Textual with pip install --user 'textual>=6'. The rest of ros2 mocap4r2 works with the system packages on every distribution.