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use newly provided rviz::createMarker() function
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@ -2,61 +2,16 @@
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#include <moveit/planning_scene/planning_scene.h>
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#include <rviz/default_plugin/markers/marker_base.h>
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#include "rviz/default_plugin/markers/arrow_marker.h"
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#include "rviz/default_plugin/markers/line_list_marker.h"
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#include "rviz/default_plugin/markers/line_strip_marker.h"
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#include "rviz/default_plugin/markers/mesh_resource_marker.h"
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#include "rviz/default_plugin/markers/points_marker.h"
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#include "rviz/default_plugin/markers/shape_marker.h"
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#include "rviz/default_plugin/markers/text_view_facing_marker.h"
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#include "rviz/default_plugin/markers/triangle_list_marker.h"
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#include <rviz/default_plugin/marker_utils.h>
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#include <rviz/display_context.h>
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#include <rviz/frame_manager.h>
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#include <OgreSceneManager.h>
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#include <tf2_msgs/TF2Error.h>
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#include <ros/console.h>
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#include <eigen_conversions/eigen_msg.h>
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#include <OgreSceneManager.h>
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namespace moveit_rviz_plugin {
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rviz::MarkerBase* createMarker(int marker_type, rviz::DisplayContext* context, Ogre::SceneNode* node)
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{
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switch (marker_type) {
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case visualization_msgs::Marker::CUBE:
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case visualization_msgs::Marker::CYLINDER:
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case visualization_msgs::Marker::SPHERE:
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return new rviz::ShapeMarker(nullptr, context, node);
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case visualization_msgs::Marker::ARROW:
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return new rviz::ArrowMarker(nullptr, context, node);
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case visualization_msgs::Marker::LINE_STRIP:
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return new rviz::LineStripMarker(nullptr, context, node);
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case visualization_msgs::Marker::LINE_LIST:
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return new rviz::LineListMarker(nullptr, context, node);
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case visualization_msgs::Marker::SPHERE_LIST:
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case visualization_msgs::Marker::CUBE_LIST:
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case visualization_msgs::Marker::POINTS:
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return new rviz::PointsMarker(nullptr, context, node);
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case visualization_msgs::Marker::TEXT_VIEW_FACING:
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return new rviz::TextViewFacingMarker(nullptr, context, node);
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case visualization_msgs::Marker::MESH_RESOURCE:
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return new rviz::MeshResourceMarker(nullptr, context, node);
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case visualization_msgs::Marker::TRIANGLE_LIST:
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return new rviz::TriangleListMarker(nullptr, context, node);
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default:
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ROS_ERROR("Unknown marker type: %d", marker_type);
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return nullptr;
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}
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}
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// create MarkerData with nil marker_ pointer, just with a copy of message
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MarkerVisualization::MarkerData::MarkerData(const visualization_msgs::Marker& marker)
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{
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@ -151,7 +106,7 @@ bool MarkerVisualization::createMarkers(rviz::DisplayContext *context, Ogre::Sce
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frame_it->second = node->createChildSceneNode();
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node = frame_it->second;
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data.marker_.reset(createMarker(data.msg_->type, context, node));
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data.marker_.reset(rviz::createMarker(data.msg_->type, nullptr, context, node));
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if (!data.marker_) continue; // failed to create marker
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// setMessage() initializes the marker, placing it at the message-specified frame
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