mocap marker configuration: how to use rigid_body_name defined in the Vicon software as marker in put in the config.yaml file

[GuiliangZ]

Hi,

I am trying to integrate the crazyswarm2 with my Vicon system as a motion capture system. I read from the official guide that we have to define the motion capture parameters in the "motion_capture.yaml" file. However, it seems that the way to define the rigid body is by defining the specific location of each marker with respect to the body frame of the drone. In my Vicon system, I defined a rigid body with a set of markers and gave a name to it, and I think the Vicon system will publish the position to this "rigid_body_name". I didn't find anywhere in the crazyswarm2 package that allows us to define a "rigid_body_name" and get Vicon positional data from that. I am wondering how to resolve this? Because it's hard for me to know the exact marker location wrt the body frame of the drone. Thank you for your help!

[knmcguire]

Also asked in discussion so I'll close this duplicate.