[VizMarkerPublisher] use scale values of geometry if exists.

cram2 · Dec 5, 2024 · 784f43c · 784f43c
1 parent 31eccb4
commit 784f43c
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/pycram/ros_utils/viz_marker_publisher.py b/src/pycram/ros_utils/viz_marker_publisher.py
@@ -92,7 +92,10 @@ def _make_marker_array(self) -> MarkerArray:
                 if isinstance(geom, MeshVisualShape):
                     msg.type = Marker.MESH_RESOURCE
                     msg.mesh_resource = "file://" + geom.file_name
-                    msg.scale = Vector3(1, 1, 1)
+                    if hasattr(geom, "scale") and geom.scale is not None:
+                        msg.scale = Vector3(*geom.scale)
+                    else:
+                        msg.scale = Vector3(1, 1, 1)
                     msg.mesh_use_embedded_materials = True
                 elif isinstance(geom, CylinderVisualShape):
                     msg.type = Marker.CYLINDER