catkin_create_pkg using_markers roscpp visualization_msgs

add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})

#include <visualization_msgs/Marker.h>
ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);
uint32_t shape = visualization_msgs::Marker::CUBE;
    visualization_msgs::Marker marker;
// Set the frame ID and timestamp.  See the TF tutorials for information on these.
marker.header.frame_id = "/my_frame";
marker.header.stamp = ros::Time::now();
// Set the namespace and id for this marker.  This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
marker.ns = "basic_shapes";
marker.id = 0;
// Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
marker.type = shape;
// Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
marker.action = visualization_msgs::Marker::ADD;

// Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
marker.pose.position.x = 0;
marker.pose.position.y = 0;
marker.pose.position.z = 0;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
// Set the scale of the marker -- 1x1x1 here means 1m on a side
marker.scale.x = 1.0;
marker.scale.y = 1.0;
marker.scale.z = 1.0;
// Set the color -- be sure to set alpha to something non-zero!
marker.color.r = 0.0f;
marker.color.g = 1.0f;
marker.color.b = 0.0f;
marker.color.a = 1.0;
marker.lifetime = ros::Duration();
// Publish the marker
while (marker_pub.getNumSubscribers() < 1)
{
    if (!ros::ok())
    {
        return 0;
    }
    ROS_WARN_ONCE("Please create a subscriber to the marker");
    sleep(1);
}
marker_pub.publish(marker);

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>

void processFeedback(
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO_STREAM( feedback->marker_name << " is now at "
      << feedback->pose.position.x << ", " << feedback->pose.position.y
      << ", " << feedback->pose.position.z );
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "simple_marker");

  // create an interactive marker server on the topic namespace simple_marker
  interactive_markers::InteractiveMarkerServer server("simple_marker");

  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.header.stamp=ros::Time::now();
  int_marker.name = "my_marker";
  int_marker.description = "Simple 1-DOF Control";

  // create a grey box marker
  visualization_msgs::Marker box_marker;
  box_marker.type = visualization_msgs::Marker::CUBE;
  box_marker.scale.x = 0.45;
  box_marker.scale.y = 0.45;
  box_marker.scale.z = 0.45;
  box_marker.color.r = 0.5;
  box_marker.color.g = 0.5;
  box_marker.color.b = 0.5;
  box_marker.color.a = 1.0;

  // create a non-interactive control which contains the box
  visualization_msgs::InteractiveMarkerControl box_control;
  box_control.always_visible = true;
  box_control.markers.push_back( box_marker );

  // add the control to the interactive marker
  int_marker.controls.push_back( box_control );

  // create a control which will move the box
  // this control does not contain any markers,
  // which will cause RViz to insert two arrows
  visualization_msgs::InteractiveMarkerControl rotate_control;
  rotate_control.name = "move_x";
  rotate_control.interaction_mode =
      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;

  // add the control to the interactive marker
  int_marker.controls.push_back(rotate_control);

  // add the interactive marker to our collection &
  // tell the server to call processFeedback() when feedback arrives for it
  server.insert(int_marker, &processFeedback);

  // ‘commit‘ changes and send to all clients
  server.applyChanges();

  // start the ROS main loop
  ros::spin();
}

https://raw.githubusercontent.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp