From e8766cb0345c9059b78f3b180b53ae9ee1b13d28 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Wed, 17 Sep 2025 16:38:04 +0200
Subject: [PATCH] use specified colors in interactive marker bodies

Without this, detector zones for bodies can become huge obfuscating markers in rviz.
---
 flatland_server/src/world.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flatland_server/src/world.cpp b/flatland_server/src/world.cpp
index 0b316526..a35ed307 100644
--- a/flatland_server/src/world.cpp
+++ b/flatland_server/src/world.cpp
@@ -281,7 +281,7 @@ void World::LoadModel(const std::string &model_yaml_path, const std::string &ns,
   visualization_msgs::MarkerArray body_markers;
   for (size_t i = 0; i < m->bodies_.size(); i++) {
     DebugVisualization::Get().BodyToMarkers(
-        body_markers, m->bodies_[i]->physics_body_, 1.0, 0.0, 0.0, 1.0);
+        body_markers, m->bodies_[i]->physics_body_, m->bodies_[i]->color_.r, m->bodies_[i]->color_.g, m->bodies_[i]->color_.b, m->bodies_[i]->color_.a);
   }
   int_marker_manager_.createInteractiveMarker(name, pose, body_markers);