This code works well for ROS kinetic and not tested for others. Main difference from https://github.com/crigroup/optitrack/tree/feat/support-kinetic is that this code can track single marker. Anyways, this code is adopted from https://github.com/crigroup/optitrack/tree/feat/support-kinetic.

Install
Follow folling link to install vrpn before installing other packages
https://answers.ros.org/question/285887/ros_vrpn_client-installation-help/

Install optirx package
pip install optirx --user
Go to your catkin workspace
cd ~/catkin_ws/src
Clone the repisotory
git clone https://github.com/tasbolat1/optitrack_ros.git
Install any missing files
rosdep update
rosdep install --from-paths . --ignore-src -y
Compile your ROS
cd ~/catkin_ws && catkin_make
How to run:

1. Get network name:
   ifconfig
   
2. Run your program
   roslaunch optitrack optitrack_pipeline.launch iface:="network_name"

How to run: Optitrack recorder

1. Make sure that motive_ip (optitrack_ros/scripts/control_commands) is set to Motive's PC's IP
   
2. Make sure that iface command is given
   
3. Make sure that the connection is there
4. To run: rosrun optitrack control_commands.py
5. To start recording: rostopic pub -1 /filename std_msgs/String "name_of_take"
6. To stop recording pub -1 /filename std_msgs/String "stop"