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Remove a marker by a specific ID #162

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Remove a marker by a specific ID #162

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67ca0f9
initial decleration
Jul 2, 2020
ffdc7cc
added the definition of the function
Jul 2, 2020
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5 changes: 5 additions & 0 deletions include/rviz_visual_tools/rviz_visual_tools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -217,6 +217,11 @@ class RvizVisualTools
*/
void resetMarkerCounts();

/**
* \brief Remove a specific marker with the given id.
*/
void removeMarkerWithID(int id);

/**
* \brief Pre-load rviz markers for better efficiency
* \return converted pose * \return true on sucess
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15 changes: 15 additions & 0 deletions src/rviz_visual_tools.cpp
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Expand Up @@ -80,6 +80,21 @@ bool RvizVisualTools::deleteAllMarkers()
return publishMarker(reset_marker_);
}

void RvizVisualTools::removeMarkerWithID(int id)
{
visualization_msgs::Marker empty_marker;
empty_marker.header.frame_id = base_frame_;
empty_marker.id = id;
empty_marker.header.stamp = ros::Time();
empty_marker.ns = "deleteAllMarkers";
empty_marker.action = 3;
empty_marker.pose.orientation.w = 1;

visualization_msgs::MarkerArray empty_marker_array;
empty_marker_array.markers.push_back(empty_marker);
pub_rviz_markers_.publish(empty_marker_array);
}

void RvizVisualTools::resetMarkerCounts()
{
arrow_marker_.id++;
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