Add quaternion to marker to avoid rviz warning

include/publisher_graph.h

@@ -93,7 +93,6 @@ class PublisherGraph: public Publisher
 
         // auxiliar variables
         unsigned int landmark_max_hits_;
-        double       viz_period_;
         ros::Time    last_markers_publish_;
         std::set<std::string> factors_drawn_;
 

src/publisher_graph.cpp

@@ -589,6 +589,12 @@ void PublisherGraph::fillFactorMarker(FactorBaseConstPtr fac,
     fac_marker.points.push_back(point1);
     fac_marker.points.push_back(point2);
 
+    // initialize quaternion to avoid RVIZ warning
+    fac_marker.pose.orientation.w = 1.0;
+    fac_marker.pose.orientation.x = 0.0;
+    fac_marker.pose.orientation.y = 0.0;
+    fac_marker.pose.orientation.z = 0.0;
+
     // colors ------------------------------------------------------
     auto color = factor_abs_color_;
     if (fac->getTopology() == TOP_ABS)