How to publish and visualise a constantly updated MarkerArray in Rviz?
When publishing markers to visualise, RViz
gives the following warning:
Adding marker '/some_id_number' multiple times.
The function I use to publish the marker array is called lots of times in a callback used to respond to some data input. I'm therefore constantly publishing a new MarkerArray
with one more marker in it. The function is defined as:
def pub_marker(self, pose):
self.marker_counter = self.marker_counter + 1
self.marker.header.stamp = rospy.Time(0)
self.marker.id = self.marker_counter
self.marker.action = self.detector_marker.MODIFY
self.marker.pose.position.x = pose.pose.position.x
self.marker.pose.position.y = pose.pose.position.y
self.marker.pose.position.z = 0
self.marker.pose.orientation = pose.pose.orientation
self.marker.color.a = 1
self.marker_array.markers.append(self.marker)
self.marker_publisher.publish(self.marker_array)
Could anyone suggest what I'm doing wrong or suggest a better approach? Seems like I need to clear the previously published MarkerArray
before publishing a new one. How might I do this?
Asked by Py on 2021-03-17 06:13:31 UTC
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