Merge pull request #115 from artnie/viz-marker-inf-time

viz markers have infinite lifetime

Author: LucaKro

examples/loading_worlds.md

@@ -19,7 +19,7 @@ This tutorial shows how to load a world description from a file into a `World` o
 
 First, we need to compose the path to your world file.
 
-```python
+```{code-cell} ipython3
 import logging
 import os
 
@@ -34,7 +34,7 @@ Next we need to initialize a parser that reads this file. There are many parsers
 To read this specific urdf file, the `https://github.com/code-iai/iai_maps/tree/ros-jazzy/` repository needs to be installed
 inside your ROS2 workspace.
 
-```python
+```{code-cell} ipython3
 from semantic_digital_twin.adapters.urdf import URDFParser  
   
 parser = URDFParser.from_file(apartment)  

examples/visualizing_worlds.md

@@ -19,7 +19,7 @@ There are two recommended ways of doing it.
 One light weight way through RVIZ2 and a more heavy weight way through simulation with multiverse.
 Let's load a world first to get started.
 
-```python
+```{code-cell} ipython3
 import logging
 import os
 
@@ -35,7 +35,7 @@ world = URDFParser.from_file(apartment).parse()
 For the RVIZ2 way, ROS2 is needed. A caveat of this approach is that you have to manage the lifecycle of a ROS2 node yourself.
 We recommend to put the spinning into sperate threads and just shutdown the thread when exiting the system.
 
-```python
+```{code-cell} ipython3
 from semantic_digital_twin.adapters.viz_marker import VizMarkerPublisher
 import threading
 import rclpy
@@ -50,7 +50,7 @@ viz = VizMarkerPublisher(world=world, node=node)
 
 When you want to stop visualizing, you have to stop the visualizer and afterwards clean up ROS2.
 
-```python
+```{code-cell} ipython3
 node.destroy_node()
 rclpy.shutdown()
 ```

src/semantic_digital_twin/adapters/viz_marker.py

@@ -97,7 +97,7 @@ def _make_marker_array(self) -> MarkerArray:
                     b=float(collision.color.B),
                     a=float(collision.color.A),
                 )
-                msg.lifetime = Duration(sec=100)
+                msg.lifetime = Duration(sec=0)
 
                 if isinstance(collision, FileMesh):
                     msg.type = Marker.MESH_RESOURCE