setLifetime method does not affect triangle_marker_

[alfonsotecnalia]

rviz_visual_tools/src/rviz_visual_tools.cpp

Line 346 in d907809

void RvizVisualTools::setLifetime(double lifetime)

triangle_marker_ is not included in this method so its lifetime is not affected. Now I do the trick calling loadRvizMarkers immediately afterwards.

[naisy]

Not only triangle_marker_, but also line_list_marker_ and spheres_marker_ have the same problem.

I checked the differences in the appearance of the string _.lifetime in the code: src/rviz_visual_tools.cpp.
command:

cat src/rviz_visual_tools.cpp | grep "_.lifetime" | sort

result:

  arrow_marker_.lifetime = marker_lifetime_;
  arrow_marker_.lifetime = marker_lifetime_;
  block_marker_.lifetime = marker_lifetime_;
  block_marker_.lifetime = marker_lifetime_;
  cuboid_marker_.lifetime = marker_lifetime_;
  cuboid_marker_.lifetime = marker_lifetime_;
  cylinder_marker_.lifetime = marker_lifetime_;
  cylinder_marker_.lifetime = marker_lifetime_;
  line_list_marker_.lifetime = marker_lifetime_;
  line_strip_marker_.lifetime = marker_lifetime_;
  line_strip_marker_.lifetime = marker_lifetime_;
  mesh_marker_.lifetime = marker_lifetime_;
  mesh_marker_.lifetime = marker_lifetime_;
  sphere_marker_.lifetime = marker_lifetime_;
  sphere_marker_.lifetime = marker_lifetime_;
  spheres_marker_.lifetime = marker_lifetime_;
  text_marker_.lifetime = marker_lifetime_;
  text_marker_.lifetime = marker_lifetime_;
  triangle_marker_.lifetime = marker_lifetime_;

I am using the ros2 branch, so I modified it as follows and confirmed that visual_tools_->setLifetime(2.0); is valid in the demo code: src/rviz_visual_tools_demo.cpp.

before:

void RvizVisualTools::setLifetime(double lifetime)
{
  marker_lifetime_ = builtin_interfaces::msg::Duration();
  marker_lifetime_.sec = static_cast<int32_t>(floor(lifetime));
  marker_lifetime_.nanosec =
      static_cast<uint32_t>(std::round((lifetime - marker_lifetime_.sec) * 1e9));

  // Update cached markers
  arrow_marker_.lifetime = marker_lifetime_;
  cuboid_marker_.lifetime = marker_lifetime_;
  line_strip_marker_.lifetime = marker_lifetime_;
  sphere_marker_.lifetime = marker_lifetime_;
  block_marker_.lifetime = marker_lifetime_;
  mesh_marker_.lifetime = marker_lifetime_;
  cylinder_marker_.lifetime = marker_lifetime_;
  text_marker_.lifetime = marker_lifetime_;
}

after:

void RvizVisualTools::setLifetime(double lifetime)
{
  marker_lifetime_ = builtin_interfaces::msg::Duration();
  marker_lifetime_.sec = static_cast<int32_t>(floor(lifetime));
  marker_lifetime_.nanosec =
      static_cast<uint32_t>(std::round((lifetime - marker_lifetime_.sec) * 1e9));

  // Update cached markers
  arrow_marker_.lifetime = marker_lifetime_;
  cuboid_marker_.lifetime = marker_lifetime_;
  line_strip_marker_.lifetime = marker_lifetime_;
  sphere_marker_.lifetime = marker_lifetime_;
  block_marker_.lifetime = marker_lifetime_;
  mesh_marker_.lifetime = marker_lifetime_;
  cylinder_marker_.lifetime = marker_lifetime_;
  text_marker_.lifetime = marker_lifetime_;
  line_list_marker_.lifetime = marker_lifetime_;
  spheres_marker_.lifetime = marker_lifetime_;
  triangle_marker_.lifetime = marker_lifetime_;
}