more fixes to ros-visualization#1275

- invalid quaternion: issue warning only
- triangle list accepts points.size()/3 colors as well (face colors)
- don't create (empty) text marker for interactive marker control with empty description

src/rviz/default_plugin/interactive_markers/interactive_marker.cpp

@@ -195,7 +195,8 @@ bool InteractiveMarker::processMessage( const visualization_msgs::InteractiveMar
     boost::make_shared<InteractiveMarkerControl>( context_,
                                                   reference_node_, this );
 
-  description_control_->processMessage( interactive_markers::makeTitle( message ));
+  if (!message.description.empty())
+    description_control_->processMessage( interactive_markers::makeTitle( message ));
 
   //create menu
   menu_entries_.clear();

src/rviz/default_plugin/marker_utils.cpp

@@ -154,7 +154,7 @@ bool checkMarkerMsg(const visualization_msgs::Marker& marker, MarkerDisplay* own
     checkQuaternion(marker, ss, level);
     checkScale(marker, ss, level);
     checkPointsNotEmpty(marker, ss, level);
-    checkColors(marker, ss, level);
+    checkColors(marker, ss, level, marker.type == visualization_msgs::Marker::TRIANGLE_LIST ? 3 : 1);
     checkTextEmpty(marker, ss, level);
     checkMeshEmpty(marker, ss, level);
     break;
@@ -272,14 +272,14 @@ void checkQuaternion(const visualization_msgs::Marker& marker, std::stringstream
       marker.pose.orientation.w == 0.0)
   {
     addSeparatorIfRequired(ss);
-    ss << "Uninitialized quaternion assuming identity.";
+    ss << "Uninitialized quaternion, assuming identity.";
     increaseWarningLevel(StatusProperty::Warn, level);
   }
   else if(!validateQuaternions(marker.pose))
   {
     addSeparatorIfRequired(ss);
     ss << "Unnormalized quaternion in marker message.";
-    increaseWarningLevel(StatusProperty::Error, level);
+    increaseWarningLevel(StatusProperty::Warn, level);
   }
 }
 
@@ -338,12 +338,14 @@ void checkScaleText(const visualization_msgs::Marker& marker, std::stringstream&
     ss << "Text height of TEXT_VIEW_FACING is 0.0 (scale.z).";
     increaseWarningLevel(StatusProperty::Warn, level);
   }
+#if 0  // There is too much code out there, which sets all 3 axis scales
   else if(marker.scale.x != 0.0 || marker.scale.y != 0.0)
   {
     addSeparatorIfRequired(ss);
     ss << "scale.x and scale.y of TEXT_VIEW_FACING are ignored.";
     increaseWarningLevel(StatusProperty::Warn, level);
   }
+#endif
 }
 
 void checkColor(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level)
@@ -416,17 +418,17 @@ void checkPointsEmpty(const visualization_msgs::Marker& marker, std::stringstrea
   }
 }
 
-void checkColors(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level)
+void checkColors(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level, unsigned int multiple)
 {
   if(marker.colors.size() == 0)
   {
     checkColor(marker, ss, level);
     return;
   }
-  if(marker.colors.size() != marker.points.size())
+  if(marker.colors.size() != marker.points.size() && (multiple == 1 || multiple * marker.colors.size() != marker.points.size()))
   {
     addSeparatorIfRequired(ss);
-    ss << "Number of colors is not equal to number of points or 0.";
+    ss << "Number of colors doesn't match number of points.";
     increaseWarningLevel(StatusProperty::Error, level);
   }
 }

src/rviz/default_plugin/marker_utils.h

@@ -69,7 +69,7 @@ void checkPointsArrow(const visualization_msgs::Marker& marker, std::stringstrea
 void checkPointsNotEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
 void checkPointsEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
 
-void checkColors(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
+void checkColors(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level, unsigned int multiple = 1);
 void checkColorsEmpty(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);
 
 void checkTextNotEmptyOrWhitespace(const visualization_msgs::Marker& marker, std::stringstream& ss, StatusProperty::Level& level);

src/test/mesh_marker_test.cpp

@@ -50,14 +50,16 @@ publishMesh(
   marker.ns = "mesh";
   if (mesh) {
     marker.type = Marker::MESH_RESOURCE;
+    marker.mesh_resource = "package://rviz/src/test/meshes/pr2-base.dae";
+    marker.mesh_use_embedded_materials = use_embedded_materials;
   } else {
     marker.type = Marker::SPHERE;
   }
   marker.action = Marker::ADD;
   marker.pose.orientation.x = 0.0;
   marker.pose.orientation.y = 0.0;
-  marker.pose.orientation.z = 0.1;
-  marker.pose.orientation.w = 1.0;
+  marker.pose.orientation.z = 0.0995;
+  marker.pose.orientation.w = 0.995;
   marker.scale.x = 1;
   marker.scale.y = 1;
   marker.scale.z = 1;
@@ -66,8 +68,6 @@ publishMesh(
   marker.color.b = b;
   marker.color.a = a;
   marker.frame_locked = true;
-  marker.mesh_resource = "package://rviz/src/test/meshes/pr2-base.dae";
-  marker.mesh_use_embedded_materials = use_embedded_materials;
   marker.id = id;
   marker.pose.position.x = x;
   marker.pose.position.y = y;