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In our lab, we use Vicon and it has precision in millimeters. I am not sure about the actual value of localization precision but from the experiences of our lab it is very good. We have been using vicon to get position coordinates of bot aerial and ground robots in indoor settings. However, vicon system has also been found useful in outdoor experiments too (source: [https://www.vicon.com/file/vicon/standard-2011-1.pdf]) . ROS is extensively used in our lab and we have used vicon with Indigo, Jade and Kinetic and it is found to run smoothly with all these frameworks and the configuration process is not so tedious. I have not used other motion capture systems though.
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