源文档网址:http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes
csdn网址:(中文翻译过来了)
https://blog.csdn.net/gongdiwudu/article/details/124269975?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522169681508416800215010988%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=169681508416800215010988&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-4-124269975-null-null.142^v95^insert_down28v1&utm_term=Please%20create%20a%20subscriber%20to%20the%20marker&spm=1018.2226.3001.4187
注意:在使用那个复制的代码时,将marker.header.frame_id = "/my_frame";中的/my_frame改为my_frame
其他跟着做就可以了