text: #!/usr/bin/env python
  
  PACKAGE_NAME = 'rviz'
  import roslib; roslib.load_manifest(PACKAGE_NAME)
  import rospy
  from visualization_msgs.msg import Marker, MarkerArray
  from geometry_msgs.msg import Pose, Point, Vector3, Quaternion
  from std_msgs.msg import ColorRGBA
  
  
  
  rospy.init_node('Narko_neck_base_marker')
  marker_pub = rospy.Publisher('Narko_base_neck_marker', Marker)
  
  def make_marker(marker_type, scale, r, g, b, a):
      # make a visualization marker array for the occupancy grid
      m = Marker()
      m.action = Marker.ADD
      m.header.frame_id = '/narko_base_link'
      m.header.stamp = rospy.Time.now()
      m.ns = 'marker_test_%d' % marker_type
      m.id = 0
      m.type = marker_type
  
      m.pose.position.x = 0.17
      m.pose.position.y = 0
      m.pose.position.z = 0.62
  
      m.pose.orientation.w = 0
      m.pose.orientation.x = 0
      m.pose.orientation.y = 0
      m.pose.orientation.z = 1
  
      m.scale = scale
      
      m.color.r = 0;
      m.color.g = 1;
      m.color.b = 0;
      m.color.a = 0.9;
      m.color.r = r;
      m.color.g = g;
      m.color.b = b;
      m.color.a = a;
      return m
  
  rate = rospy.Rate(10)  
  while not rospy.is_shutdown():
      rospy.loginfo('Publishing Narko_neck_base_marker')
      scale = Vector3(0.22,0.3,1)
      marker_pub.publish(make_marker(Marker.CUBE, scale, 3, 1, 1.5, .3))
      rate.sleep()
  