Working version of optitrack streamer as one node.

optitrack_streamer/optitrack_streamer_node.py

@@ -90,7 +90,7 @@ class OptitrackStreamerNode(Node):
                 self.get_logger().info("Reset!", throttle_duration_sec = 1)
 
                 initial_rotation = R.from_quat(cp(raw["r"]))
-                self.calib_rotation = initial_rotation.inv() #* initial_rotation
+                self.calib_rotation = initial_rotation.inv()
 
             try:
                 aligned = R.from_quat(raw["r"]) * self.calib_rotation