From 0569a4993634c632518e58b0c2d134a6ece94e81 Mon Sep 17 00:00:00 2001
From: Erik Holum <7966037+eholum@users.noreply.github.com>
Date: Sun, 10 Aug 2025 06:48:06 -0400
Subject: [PATCH] Initialize the namespace property for custom iMarkers in rviz
 (#3547)

(cherry picked from commit 3e526af72eab5fb45d699a36736317c6e4ae0c03)
---
 .../src/interactive_marker_display.cpp             | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/interactive_marker_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
index ad791e7053..5234407dd7 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
@@ -91,13 +91,13 @@ InteractiveMarkerDisplay::InteractiveMarkerDisplay()
 
 void InteractiveMarkerDisplay::onInitialize()
 {
-  //  auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
-  //  if (!ros_node_abstraction) {
-  //    return;
-  //  }
-  //
-  //  interactive_marker_namespace_property_->initialize(ros_node_abstraction);
-  //
+  auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
+  if (!ros_node_abstraction)
+  {
+    return;
+  }
+  interactive_marker_namespace_property_->initialize(ros_node_abstraction);
+
   rclcpp::NodeOptions options;
   options.arguments({ "--ros-args", "-r",
                       "__node:=" + std::string("interactive_marker_display_") +