rviz画长方体框

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

int main(int argc, char** argv) {
  ros::init(argc, argv, "showline");
  ros::NodeHandle n;
  ros::Publisher marker_pub =
      n.advertise<visualization_msgs::Marker>("visualization_marker", 10);
  visualization_msgs::Marker line_list;

  line_list.header.frame_id = "box";
  line_list.lifetime = ros::Duration(0.5);
  line_list.ns = "lines";
  line_list.action = visualization_msgs::Marker::ADD;
  line_list.pose.orientation.w = 1.0;
  line_list.id = 2;
  line_list.type = visualization_msgs::Marker::LINE_LIST;
  line_list.scale.x = 0.1;
  // Line list is red
  line_list.color.r = 1.0;
  line_list.color.a = 1.0;
  geometry_msgs::Point p;
  p.x = 1;
  p.y = 1;
  p.z = 1;
  geometry_msgs::Point p1;
  p1.x = 3;
  p1.y = 1;
  p1.z = 1;
  geometry_msgs::Point p2;
  p2.x = 3;
  p2.y = 2;
  p2.z = 1;
  geometry_msgs::Point p3;
  p3.x = 1;
  p3.y = 2;
  p3.z = 1;
  geometry_msgs::Point p4;
  p4.x = 1;
  p4.y = 1;
  p4.z = 7;
  geometry_msgs::Point p5;
  p5.x = 3;
  p5.y = 1;
  p5.z = 7;
  geometry_msgs::Point p6;
  p6.x = 3;
  p6.y = 2;
  p6.z = 7;
  geometry_msgs::Point p7;
  p7.x = 1;
  p7.y = 2;
  p7.z = 7;
  line_list.points.push_back(p);
  line_list.points.push_back(p1);
  line_list.points.push_back(p1);
  line_list.points.push_back(p2);
  line_list.points.push_back(p2);
  line_list.points.push_back(p3);
  line_list.points.push_back(p3);
  line_list.points.push_back(p);
  
  line_list.points.push_back(p4);
  line_list.points.push_back(p5);
  line_list.points.push_back(p5);
  line_list.points.push_back(p6);
  line_list.points.push_back(p6);
  line_list.points.push_back(p7);
  line_list.points.push_back(p7);
  line_list.points.push_back(p4);

  line_list.points.push_back(p4);
  line_list.points.push_back(p);
  line_list.points.push_back(p5);
  line_list.points.push_back(p1);
  line_list.points.push_back(p6);
  line_list.points.push_back(p2);
  line_list.points.push_back(p7);
  line_list.points.push_back(p3);
  while (ros::ok()) {
    marker_pub.publish(line_list);
    line_list.header.stamp = ros::Time::now();
  }
  // ros::spinOnce();

  return 0;
}