You can overlay your teleoperation view with a marker array to visualize icons, geometric shapes, waypoints, and other polygons. You'll accomplish this by configuring a geometry stream, and then adding it to the 3D Scene module for visualization.

Formant supports the /visualization_msgs/MarkerArray ROS data type.

Step 1: Navigate to device teleoperation settings

1. In Formant, in the upper-left corner, open the menu and click Settings.
2. Click Devices, and then click on the device you want to configure.
3. Click on the Teleoperation tab to open the teleoperation configuration page.

Step 2: Configure a marker array

1. In the teleoperation configuration page, scroll down to Geometry and click the plus (+) icon.
2. Click Add ROS Topic.
3. Enter the name of the ROS topic which contains your marker array.
4. Click Done.

Step 3: Add your marker array to the 3D Scene module

Now that your geometry stream is configured, we'll add it to the 3D Scene module for visualization.

For more information on the 3D Scene module, including configuration walkthrough and a full reference guide, see 3D scene module in our Views and Modules section.

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