Simulated system

mocap4r2_sim_driver produces synthetic rigid bodies and markers from an acquisition thread, like a real SDK. It is the quickest way to try the tools, write applications or test a pipeline in CI.

$ ros2 launch mocap4r2_sim_driver sim_driver.launch.yaml autostart:=activate

Parameter	Default	Meaning
rate	120	frame rate, Hz
bodies	[robot, wand]	rigid bodies; each one configured in bodies_config.<name>.{motion, center, radius, period} (circle, figure8 or static)
markers_per_body	4	0 to 6 markers in an asymmetric pattern
unlabeled_markers	0	random unlabeled markers per frame
noise	0.0005	marker noise std, metres
occlusion_probability / occlusion_duration	0 / 0.2	chance per frame and body of starting an occlusion, and its length (s)
frame_drop_probability	0	chance of dropping a frame (shows as a gap in frame_number)
latency	0.004	simulated system latency, seconds
seed	42	random seed (the scene is deterministic)