How to publish an array of 3D points for visualization in RVIZ? [Solved]

edit

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