Hi,

I'm trying to visualize some arbitrary number of markers. Markers were updated every 40ms, so I don't want them to persist on screen but rather have 40ms lifetime. However, the marker property 'lifetime' seems has no effect at all. Markers won't disappear automatically no matter how long I set the lifetime, like marker.lifetime = ros::Duration(0.04) or whatever time interval.

I know I could send a DELETE action to specific id that are no longer valid, or replace it with an empty marker. But it's tedious to keep track of how many markers I have, and DELETE ones that are not valid.

Am I doing something wrong? I modified the tutorial code Markers: Sending Basic Shapes (C++) like this: (changed to a unique id each time, and set the lifetime)

static uint32_t cnt = 0;
visualization_msgs::Marker marker;
// Set the frame ID and timestamp.  See the TF tutorials for information on these.
marker.header.frame_id = "/my_frame";
marker.header.stamp = ros::Time::now();

// Set the namespace and id for this marker.  This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
marker.ns = "basic_shapes";
marker.id = cnt++;
marker.lifetime = ros::Duration(0.01);

Thank you for any help!