From f3dca666a89f64264933eff4662f41a2b8e2cf52 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 5 Jan 2022 10:16:12 +0100
Subject: [PATCH] Add quaternion to marker to avoid rviz warning
---
include/publisher_graph.h | 1 -
src/publisher_graph.cpp | 6 ++++++
2 files changed, 6 insertions(+), 1 deletion(-)
diff --git a/include/publisher_graph.h b/include/publisher_graph.h
index 7722dd7..a71c03c 100644
--- a/include/publisher_graph.h
+++ b/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_;
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 3e980bb..e55327c 100644
--- a/src/publisher_graph.cpp
+++ b/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)
--
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