Allow to enable frame locking in the markers/markers arrays (#56)

README.md

@@ -194,6 +194,12 @@ Convenience functions
  - getCenterPoint
  - getVectorBetweenPoints
 
+Frame locking
+
+![](resources/frame_locking.gif)
+
+This allows the markers to be automatically updated as the base frame moves without having to republish. You can enable it via ``enableFrameLocking()`` (this is not enabled by default).
+
 ### Available Colors
 
 This package helps you quickly choose colors - feel free to send PRs with more colors as needed

include/rviz_visual_tools/rviz_visual_tools.h

@@ -369,6 +369,12 @@ class RvizVisualTools
    */
   void enableBatchPublishing(bool enable = true);
 
+  /**
+   * \brief Enable frame locking - useful for when the markers is attached to a moving TF, the marker will be
+   * re-transformed into its frame every time-step
+   */
+  void enableFrameLocking(bool enable = true);
+
   /**
    * \brief Trigger the publish function to send out all collected markers IF there are at leats
    *        queueSize number of markers ready to be published.
@@ -1080,7 +1086,7 @@ a   *        Warning: when using this in a loop be sure to call trigger() at end
 
   // Settings
   bool batch_publishing_enabled_ = true;
-  ;
+  bool frame_locking_enabled_ = false;
   double alpha_;         // opacity of all markers
   double global_scale_;  // allow all markers to be increased by a constanct factor
 

src/rviz_visual_tools.cpp

@@ -831,6 +831,7 @@ Eigen::Affine3d RvizVisualTools::getVectorBetweenPoints(const Eigen::Vector3d &a
 bool RvizVisualTools::publishMarker(visualization_msgs::Marker &marker)
 {
   // Add single marker to array
+  marker.frame_locked = frame_locking_enabled_;
   markers_.markers.push_back(marker);
 
   // Determine if we should publish now
@@ -847,6 +848,11 @@ void RvizVisualTools::enableBatchPublishing(bool enable)
   batch_publishing_enabled_ = enable;
 }
 
+void RvizVisualTools::enableFrameLocking(bool enable)
+{
+  frame_locking_enabled_ = enable;
+}
+
 bool RvizVisualTools::triggerEvery(std::size_t queueSize)
 {
   if (markers_.markers.size() >= queueSize || queueSize == 0)