diff --git a/src/loop_closure_assistant.cpp b/src/loop_closure_assistant.cpp
index 36f51fa2..12dd5d47 100644
--- a/src/loop_closure_assistant.cpp
+++ b/src/loop_closure_assistant.cpp
@@ -244,15 +244,14 @@ void LoopClosureAssistant::publishGraph()
     if (source_id >= first_localization_id || target_id >= first_localization_id) {
       localization_edges_marker.points.push_back(p0);
       localization_edges_marker.points.push_back(p1);
+      marray.markers.push_back(localization_edges_marker);
     } else {
       edges_marker.points.push_back(p0);
       edges_marker.points.push_back(p1);
+      marray.markers.push_back(edges_marker);
     }
   }
 
-  marray.markers.push_back(edges_marker);
-  marray.markers.push_back(localization_edges_marker);
-
   // if disabled, clears out old markers
   interactive_server_->applyChanges();
   marker_publisher_->publish(marray);