From c5349fef7c04c66fd6b1e966054db82c695726fa Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 12 Sep 2022 17:35:57 +0200
Subject: [PATCH] Fix graph factors in rviz
---
src/publisher_graph.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 480ec43..6a97029 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.cpp
@@ -685,6 +685,7 @@ bool PublisherGraph::fillFactorMarker(FactorBaseConstPtr fac,
}
// store points ------------------------------------------------------
+ fac_marker.points.clear();
fac_marker.points.push_back(point1);
fac_marker.points.push_back(point2);
@@ -713,6 +714,7 @@ bool PublisherGraph::fillFactorMarker(FactorBaseConstPtr fac,
if (fac->getStatus() == FAC_INACTIVE)
color.a *= 0.5;
+ fac_marker.colors.clear();
fac_marker.colors.push_back(color);
fac_marker.colors.push_back(color);// 2 times because of 2 points
fac_marker.ns = std::string("factors_"+(fac->getProcessor() ? fac->getProcessor()->getName() : "unnamed_processor"));
--
GitLab