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Is this a ros3djs specific problem, i.e. do you have interactive markers working in RViz, but not ros3djs?

If you don't, you'll need a package that generates those markers first.

You can look to http://wiki.ros.org/cob_interactive_teleop or http://wiki.ros.org/turtlebot_interactive_markers/Tutorials/indigo/UsingTurtlebotInteractiveMarkers for inspiration on how to use interactive markers for teleoperation :)

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