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There is example C++ marker array code in https://github.com/ros-visualization/rviz/blob/kinetic-devel/src/test/marker_test.cpp

There is example C++ marker array code in https://github.com/ros-visualization/rviz/blob/kinetic-devel/src/test/marker_test.cpp ros-visualization/rviz//src/test/marker_test.cpp