Here is the solution that I wanted. both of the above answers helped me in getting a beautiful output.

I'm posting the solution now.

include <ros ros.h="">

include <visualization_msgs marker.h="">

include <cmath>

int main( int argc, char** argv ) { ros::init(argc, argv, "spheres"); ros::NodeHandle n; ros::Publisher marker_pub = n.advertise<visualization_msgs::marker>("ball_trajectory", 10);

ros::Rate r(30);

float f = 0.0; while (ros::ok()) {

visualization_msgs::Marker sphere_list;
sphere_list.header.frame_id= "/my_frame";
sphere_list.header.stamp= ros::Time::now();
sphere_list.ns= "spheres";
sphere_list.action= visualization_msgs::Marker::ADD;
sphere_list.pose.orientation.w= 1.0;

sphere_list.id = 0;

sphere_list.type = visualization_msgs::Marker::SPHERE_LIST;


// POINTS markers use x and y scale for width/height respectively
sphere_list.scale.x = 0.1;
sphere_list.scale.y = 0.1;
sphere_list.scale.z = 0.1;

// Points are green
sphere_list.color.r = 1.0f;
sphere_list.color.a = 1.0;


// Create the vertices for the points and lines
for (uint32_t i = 0; i < 25; ++i)
{
  float y = sin(f + i / 100.0f * 2 * M_PI);
  float z = cos(f + i / 100.0f * 2 * M_PI);

  geometry_msgs::Point p;
  p.x = (int32_t)i*0.2;
  p.y = y;
  p.z = z;

  sphere_list.points.push_back(p);

}
marker_pub.publish(sphere_list);

r.sleep();

f += 0.04;

} }

if there is any mistake or anyone has got any doubt regarding this code then please let me know. I will be happy to help and correct my mistakes.

Regards, Prasanna

Here is the solution that I wanted. both of the above answers helped me in getting a beautiful output.

I'm posting the solution now.

include <ros ros.h="">

include <visualization_msgs marker.h="">

include <cmath>

int main( int argc, char** argv ) { ros::init(argc, argv, "spheres"); ros::NodeHandle n; ros::Publisher marker_pub = n.advertise<visualization_msgs::marker>("ball_trajectory", 10);

ros::Rate r(30);

float f = 0.0; while (ros::ok()) {

visualization_msgs::Marker sphere_list;
sphere_list.header.frame_id= "/my_frame";
sphere_list.header.stamp= ros::Time::now();
sphere_list.ns= "spheres";
sphere_list.action= visualization_msgs::Marker::ADD;
sphere_list.pose.orientation.w= 1.0;

sphere_list.id = 0;

sphere_list.type = visualization_msgs::Marker::SPHERE_LIST;


// POINTS markers use x and y scale for width/height respectively
sphere_list.scale.x = 0.1;
sphere_list.scale.y = 0.1;
sphere_list.scale.z = 0.1;

// Points are green
sphere_list.color.r = 1.0f;
sphere_list.color.a = 1.0;


// Create the vertices for the points and lines
for (uint32_t i = 0; i < 25; ++i)
{
  float y = sin(f + i / 100.0f * 2 * M_PI);
  float z = cos(f + i / 100.0f * 2 * M_PI);

  geometry_msgs::Point p;
  p.x = (int32_t)i*0.2;
  p.y = y;
  p.z = z;

  sphere_list.points.push_back(p);

}
marker_pub.publish(sphere_list);

r.sleep();

f += 0.04;

} }

if there is any mistake or anyone has got any doubt regarding this code then please let me know. I will be happy to help and correct my mistakes.

EDIT Sorry I forgot to mention other details.

put this in CMakelists.txt add_executable(ball_trajectory src/ball_trajectory.cpp) target_link_libraries(ball_trajectory ${catkin_LIBRARIES})

where ball_trajectory is the .cpp file

then catkin_make

then in RVIZ do this.

1. set Fixed Frame to my_frame. (Note:- if there is no option my_frame then edit yourself)
2. Add ->options ->Marker
3. set Marker Topic to ball_trajectory. (here visualization msg topic is ball_trajectory)

Note:- Do not get confused with .cpp file name and published topic name, can be changed easily and independent of each other.

Regards, Prasanna

Here is the solution that I wanted. both of the above answers helped me in getting a beautiful output.

I'm posting the solution now.

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <cmath>

int main( int argc, char** argv )
{
  ros::init(argc, argv, "spheres");
  ros::NodeHandle n;
  ros::Publisher marker_pub = n.advertise<visualization_msgs::marker>("ball_trajectory", 10);
 
n.advertise<visualization_msgs::Marker>("ball_trajectory", 10);

  ros::Rate r(30);
 
r(30);

  float f = 0.0;
  while (ros::ok())
  {
 
{

    visualization_msgs::Marker sphere_list;
 sphere_list.header.frame_id= "/my_frame";
 sphere_list.header.stamp= ros::Time::now();
 sphere_list.ns= "spheres";
 sphere_list.action= visualization_msgs::Marker::ADD;
 sphere_list.pose.orientation.w= 1.0;

 sphere_list.id = 0;

 sphere_list.type = visualization_msgs::Marker::SPHERE_LIST;


 // POINTS markers use x and y scale for width/height respectively
 sphere_list.scale.x = 0.1;
 sphere_list.scale.y = 0.1;
 sphere_list.scale.z = 0.1;

 // Points are green
 sphere_list.color.r = 1.0f;
 sphere_list.color.a = 1.0;


 // Create the vertices for the points and lines
 for (uint32_t i = 0; i < 25; ++i)
 {
   float y = sin(f + i / 100.0f * 2 * M_PI);
   float z = cos(f + i / 100.0f * 2 * M_PI);

   geometry_msgs::Point p;
   p.x = (int32_t)i*0.2;
   p.y = y;
   p.z = z;

   sphere_list.points.push_back(p);

 }
 marker_pub.publish(sphere_list);

 r.sleep();

 f += 0.04;
  }
}
 
}
} 
if there is any mistake or anyone has got any doubt regarding this code then please let me know. I will be happy to help and correct my mistakes.
 
EDIT
Sorry I forgot to mention other details.
 
put this in CMakelists.txt
add_executable(ball_trajectory src/ball_trajectory.cpp)
target_link_libraries(ball_trajectory ${catkin_LIBRARIES})
 
where ball_trajectory is the .cpp file
 
then catkin_make
 
then in RVIZ do this.
 
 
set Fixed Frame to           my_frame. (Note:- if there is no option my_frame then edit yourself) 
 
Add ->options ->Marker
 
set Marker Topic to          ball_trajectory. (here visualization msg topic is ball_trajectory)
 
 
Note:- Do not get confused with .cpp file name and published topic name, can be changed easily and independent of each other.
 
Regards,
Prasanna