Fixed lifetime markers

Signed-off-by: ahcorde <[email protected]>

src/plugins/marker_manager/MarkerManager.cc

@@ -122,6 +122,9 @@ class ignition::gui::plugins::MarkerManagerPrivate
  /// \brief Sim time according to world stats message
  public: std::chrono::steady_clock::duration simTime;
 
+ /// \brief Previous sim time received
+ public: std::chrono::steady_clock::duration lastSimTime;
+
  /// \brief The last marker message received
  public: ignition::msgs::Marker msg;
 };
@@ -177,7 +180,7 @@ void MarkerManagerPrivate::Initialize()
  igndbg << "Advertise " << this->topicName << "_array.\n";
 
  // World name from window, to construct default topics and services
- std::string worldName;
+ std::string worldName = "example";
  auto worldNames = gui::worldNames();
  if (!worldNames.empty())
  worldName = worldNames[0].toStdString();
@@ -221,6 +224,40 @@ void MarkerManagerPrivate::OnRender()
  this->ProcessMarkerMsg(*markerIter);
  this->markerMsgs.erase(markerIter++);
  }
+
+ // Erase any markers that have a lifetime.
+ for (auto mit = this->visuals.begin();
+ mit != this->visuals.end();)
+ {
+ for (auto it = mit->second.cbegin();
+ it != mit->second.cend(); ++it)
+ {
+ if (it->second->GeometryCount() == 0u)
+ continue;
+
+ ignition::rendering::MarkerPtr markerPtr =
+ std::dynamic_pointer_cast<ignition::rendering::Marker>
+ (it->second->GeometryByIndex(0u));
+ if (markerPtr != nullptr)
+ {
+ if (markerPtr->Lifetime().count() != 0 &&
+ (markerPtr->Lifetime() <= this->simTime ||
+ this->simTime < this->lastSimTime))
+ {
+ this->scene->DestroyVisual(it->second);
+ it = mit->second.erase(it);
+ break;
+ }
+ }
+ }
+
+ // Erase a namespace if it's empty
+ if (mit->second.empty())
+ mit = this->visuals.erase(mit);
+ else
+ ++mit;
+ }
+ this->lastSimTime = this->simTime;
 }
 
 /////////////////////////////////////////////////