To my current understanding, vrpnclientros does not support publishing rate data or geometry/twist messages as a rostopic in the optitrack system setup and only supports the VICON setup, correct me if I am wrong. So it seems the only way to do this is to write my own state publisher if I am using the optitrack + vrpn setup. I was wondering if anybody has written a state publisher that is useable or had good results in the python language?

Any suggestions on obtaining the rates data in sync would be appreciated.