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Based on Markus Achtelik's ROS bridge to the Vicon Data Stream SDK, I have provided a ROS Metapackage system that computes the rotation and translation coordinates of Vicon mocap segment markers (using the numerically stable Gram-Schmidt orthonormalization procedure). I have provided an example for markers on a manikin head after subscribing to the published topic "vicon/markers" from the ros bridge to vicon sdk. To run , simply do

rosrun vicon_listener vicon_listener

The package also provides the ServiceClient to the advertised pose ServiceServer consisting of translation and orientation quarternions and can be run with

rosrun vicon_bridge grabpose "subject_name" "segment_name" grab_vicon_pose

It's been tested and verified on ROS_Indigo running Ubuntu Trusty. If you can verify that it works on Jade or Hydro, kindly leave a feedback on the project's issues page.