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A new RQt Image Overlay Plugin is an alternative to the method Patrick describes, with the following advantages:

Drawing is done in the rqt plugin, and not by an intermediate "drawing node" - faster and saves bandwidth.
Not limited to the ImageMarker msg type, can draw any custom msg type
Freedom to draw the msg however you like
Can turn layers on and off from within RQt

A new RQt Image Overlay Plugin I have released is an alternative to the method Patrick describes, with the following advantages:

Drawing is done in the rqt plugin, and not by an intermediate "drawing node" - faster and saves bandwidth.
Not limited to the ImageMarker msg type, can draw any custom msg type
Freedom to draw the msg however you like
Can turn layers on and off from within RQt

A new RQt Image Overlay Plugin I have released is an alternative to the method Patrick describes, with the following advantages:

Drawing is done in the rqt plugin, and not by an intermediate "drawing node" - faster and saves bandwidth.
Not limited to the ImageMarker msg type, can draw any custom msg type
Freedom to draw the msg however you like
Can turn layers on and off from within RQt

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