Draw coordinate system in Rviz

edit

Hi,

I am trying to visualize camera and laser poses in Rviz. Currently I can draw an arrow pointing in the X direction like you can see on the attached figure. Basically what I would like to do is replace the single green and yellow arrows by an axis similar to the one overlapping the yellow arrow in the figure.

The code that draws the single arrow pointing in the X direction is the following:

for(int n=0;n<lasers.size();n++)
{
    {
    marker_lasers[n].header.frame_id = "/my_frame3";
    marker_lasers[n].header.stamp = ros::Time::now();

    std::stringstream ss;
    ss << "Laser " << n;

    marker_lasers[n].ns = ss.str();
    marker_lasers[n].action = visualization_msgs::Marker::ADD;

    marker_lasers[n].type = visualization_msgs::Marker::ARROW;

    marker_lasers[n].scale.x = 0.2;
    marker_lasers[n].scale.y = 0.1;
    marker_lasers[n].scale.z = 0.1;

    geometry_msgs::Pose laser = lasers[n];
    std_msgs::ColorRGBA color;

    color = colormap.color(n);

    marker_lasers[n].pose.position.x=laser.position.x;
    marker_lasers[n].pose.position.y=laser.position.y;
    marker_lasers[n].pose.position.z=laser.position.z;

    marker_lasers[n].pose.orientation.x=laser.orientation.x;
    marker_lasers[n].pose.orientation.y=laser.orientation.y;
    marker_lasers[n].pose.orientation.z=laser.orientation.z;
    marker_lasers[n].pose.orientation.w=laser.orientation.w;

    marker_lasers[n].color=color;

    marker_list.update(marker_lasers[n]);
    }
}

Thank you for your help,

Dr1T

EDIT: Upon searching a little more I came across this question: http://answers.ros.org/question/66510...

It seems to be exactly the same issue. The selected answer says that I have to create 3 arrow markers for each pose. But this would require quite a bit of changes in code that I am not familiar with.

The second answer seems to be what I want without changing much, could someone give an example of how to implement it (adding a Pose display type and changing its shape to "Axis")?