Opti-Track and att_pos_mocap.msg

Hello all .

My lab have a set of optitrack and I want to send the data (position and attitude of quad rotor) from optitrack system to my quad rotor.

I read the v1.5.5 code and found att_pos_mocap.msg.

Which .cpp publish the att_pos_mocap.msg? OR I need write a new module to receive the data and publish them?


我想把optitrack得到的信息传给pixhawk,想知道哪个文件是发布 att_pos_mocap.msg的?