VRPN node to mavros (mocap_pose_estimate)


I want to send the position data of cameras optitrack to the pixhawk, I am using two pc (windows and ubuntu), the communication between ubuntu pc (mavros) and my 3dr iris drone with pixhawk will be done with telemetry at 57600 baudrate (TELEM1 ).

So, I’m using the vrpn node to make a communication between motive (optitrack) and ROS.

I want to use the mavros plugin (mocap_pose_estimate) to send data position from the cameras to the pixhawk.

How can I send the position data obtained by the vrpn node to the mocap / pose?

thanks and regards!