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I'm not sure what the details of your use-case are, but here are a few points to consider:

  • Depending on the subscriber queue size and the rate at which you publish, publishing single Markers can either work well (if you don't overwhelm the subscriber queue) or not well (when you overwhelm the subscriber queue). In the latter case, messages get lost and not processed on the subscriber side.
  • If you set Marker to have the same namespace and id as a previous one, the previous one should indeed disappear (as it gets overwritten by the new one if the action is set to "add/modify", which is the default).
  • If you publish multiple markers it is recommended to use a MarkerArray publisher, as this allows publishing an array of Markers. This avoids the problem with potentially unpredictable behavior mentioned in the first bullet.
  • I'd recommend getting rid of the latching for your publishers you mentioned, at least for testing. If you have multiple latched publishers in a node (or multiple nodes latching the same topic), the behavior can be counterintuitive.