ROS2: Path visualization in RViz and Gazebo

Path visualization in Gazebo

Markers in Gazebo

Gazebo has its markers, too. And... though I can not believe it myself... looks like... you can not change colors for them!
Also, it is not very elegant in the first place:


This was a single marker, sticking out of the ground... I am not going to use this approach anyway.

Using objects as markers in Gazebo

Using objects instead of markers is kind of an obvious solution (to "can not change color" problem). Just an important moment here:
An object should have "static" property, so that physics engine doesn't spend time on it.

Here is an example:


And here is the URDF for this "marker" (I just took an existing URDF, I am not going to use this approach as it is ugly):


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