Please move the repo to the tud-cor-sr organization (either change ownership or clone). Please use the following repo name: ros2-mocap_optitrack

Please remove the packages from the src folder and place them into the core folder of the repo. Also, the package names should start with the repo name mocap_optitrack and then have an additional token attached for the functionality of the package (for example mocap_optitrack_interfaces). You can take inspiration from here: https://github.com/ANYbotics/grid_map

Please add a launch file which first parses the ROS2 parameters from a config/params.yml file and then starts all the nodes. The subscription and publication topic names of the nodes should also be specified in the config file.

Please include the standard stamped (so including reference to time and coordinate system) PoseStamped.msg or the PoseWithCovarianceStamped.msg from the ROS2 geometry msgs in the RigidBody.msg instead of redefining using your own position and rotation convention

Can you please remove the log, install and build folders from the repo and add them to the .gitignore

Instead of reading the NatNet server details from the myconfig.h file, the NatNet information should be parse from ROS2 parameters, so that these can be changed at run-time without re-compiling. You can place them in a config/params.yaml file, which ROS2 can parse in the launch file (https://docs.ros.org/en/foxy/Tutorials/Parameters/Understanding-ROS2-Parameters.html)