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You need to publish the pose to the "/mavros/mocap/pose" topic.

Either write your own code to do it or use an existing ROS node.

As an example, let's use the "mocap_optitrack" package.

Edit mocap.yaml to publish the pose to "/mavros/mocap/pose" by modifying the following lines:

rigid_bodies:
    '1':
        pose: /mavros/mocap/pose

You can leave the rest as default.

Run mavros ( roslaunch mavros px4.launch ) and mocap_optitrack ( roslaunch mocap_optitrack mocap.launch ), and your FCU should receive mocap data.

You might need to increase the baud-rate of the connection between your PC and the Pixhawk in order to get this to work.