Old data keeps being visualized in rviz

edit

I have a callback lineVisualization which publishes a MarkerArray containing lines. Inside rviz I visualize the lines. Now the problem I am facing is that some old lines which should not be detected anymore are showing up in rviz.

• Sometimes they disapear after a while but somethines they don't.
• If I then un-select the namespace from the MarkerArray and then disapear.

From the two above facts I observe I conclude that rviz for some reason stores my visualization data and keeps showing it? However since I never worked with Markers I wonder if I am not doing something wrong in my code.

The relevant code piece is displayed below.

void lineVisualization(const std_msgs::Float32MultiArray::ConstPtr& msgLines)
{
    // Create marker and markerarray
    visualization_msgs::MarkerArray lines;

    cmd_pub.publish(lines); 

    int offset = 0;

    // For each line
    for(int i = 0; i < (int)(msgLines->data.size() / 4); i++, offset = 4*i)
    {
        visualization_msgs::Marker line;

        // Init
        line.header.frame_id    = "/pico/base";
        line.header.stamp       = ros::Time::now();
        line.lifetime           = ros::Duration();
        line.id                 = i;
        line.ns                 = "HoughLines";
        line.type               = visualization_msgs::Marker::LINE_STRIP;
        line.action             = visualization_msgs::Marker::ADD;
        line.pose.orientation.w = 1.0;
        line.scale.x            = 0.05;
        line.color.r            = 0.0f;
        line.color.g            = 0.0f;
        line.color.b            = 1.0f;
        line.color.a            = 1.0f;


        // Create points
        geometry_msgs::Point p1;
        geometry_msgs::Point p2;

        p1.x =  (float)(msgLines->data[offset    ] / 100);
        p1.y = -(float)(msgLines->data[offset + 1] / 100);
        p1.z =  0;

        p2.x =  (float)(msgLines->data[offset + 2] / 100);
        p2.y = -(float)(msgLines->data[offset + 3] / 100);
        p2.z =  0;

        // Create line segment
        line.points.push_back(p1);
        line.points.push_back(p2);  

        // Add line to lines
        lines.markers.push_back(line);

        // Clear line point
        line.points.clear();
    }

    // Publish
    cmd_pub.publish(lines); 

    // Clear lines
    lines.markers.clear();
}