[Other issue]: how do that visualization obstacle in rviz2 and gazebo

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Description

I searching your repository. so I found rmf_obstacle like picture. I try that. so I want to detail. please..
how do that? /fleet_marker topic in rviz2 change Durability Policy "Transient Local". but error is spawn. like this

[obstacle_visualizer_node-9] [WARN] [1694504262.622905605] [rmf_obstacle_visualizer]: New subscription discovered on topic '/fleet_markers', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY
[rviz2-10] [WARN] [1694504262.641238936] [rviz]: New publisher discovered on topic '/fleet_markers', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY

I really don't know like this picture. even there is not scan_data. the simulation is on gazebo? obstacle is human. but hmm.. human is not in gazebo. just like sofa, chair, table so on...

Begin with the /fleet_markers topic and the rmf_obstacle_visualizer, rviz2, and Gazebo setup described in the report; reproduce the incompatible durability-policy warnings. Done should be a documented, working procedure for visualizing obstacles and configuring compatible QoS, including whether the obstacles appear in simulation.