The node is informing you that there is no subscriber for your markers. Just open RVIZ, and add the markers. If there is a subscriber, the basic_shapes node is going to start to publish the markers.
Originally posted by NEngelhard with karma: 3519 on 2016-12-23
This answer was ACCEPTED on the original site
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Original comments
Comment by Abhinav Sonone on 2016-12-23:
How do we add markers after opening RViz?
It also says that no tf data , Actual error no FIXED Frame exists
Comment by NEngelhard on 2016-12-23:
http://wiki.ros.org/rviz/UserGuide http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes#Viewing_the_Markers