marker_appender.py

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#!/usr/bin/env python
import rospy

PKG='jsk_pcl_ros'

import imp
try:
    imp.find_module(PKG)
except:
    import roslib;roslib.load_manifest(PKG)

from visualization_msgs.msg import Marker, MarkerArray

marker_array = None
def callback(msg):
  global marker_array, marker_array_pub
  if not marker_array:
    marker_array = MarkerArray()
  msg.id = len(marker_array.markers)
  marker_array.markers.append(msg)
  marker_array_pub.publish(marker_array)

def main():
  global marker_array_pub
  rospy.init_node("marker_appender")
  marker_array_pub = rospy.Publisher("marker_array", MarkerArray, queue_size=1)
  s = rospy.Subscriber("marker", Marker, callback)
  rospy.spin()

if __name__ == "__main__":
  main()