gistfile1.txt

visualization_msgs::Marker marker;
		marker.header.frame_id = "ortho_body";
		marker.header.stamp = ros::Time::now();
		marker.ns = "my_namespace";
		marker.id = 0;
		marker.type = visualization_msgs::Marker::SPHERE;
		marker.action = visualization_msgs::Marker::ADD;
		marker.pose.position.x = carrot_ortho_body_frame(0);
		marker.pose.position.y = carrot_ortho_body_frame(1);
		marker.pose.position.z = carrot_ortho_body_frame(2);
		marker.scale.x = 0.5;
		marker.scale.y = 0.5;
		marker.scale.z = 0.5;
		marker.color.a = 0.5; // Don't forget to set the alpha!
		marker.color.r = 0.9;
		marker.color.g = 0.4;
		marker.color.b = 0.0;
		carrot_pub.publish( marker );