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You can do pretty much everything the same, see my example below. In this example I populate a set of normal markers but then only in certain settings populate that information into an interactive marker. What you find is that beyond the N-dof manipulation and size, all the other things are pretty analog.

https://github.com/SteveMacenski/slam_toolbox/blob/melodic-devel/src/loop_closure_assistant.cpp#L146

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