diff --git a/src/plugins/marker_manager/MarkerManager.cc b/src/plugins/marker_manager/MarkerManager.cc
index a78531c2a..d9a3e75ed 100644
--- a/src/plugins/marker_manager/MarkerManager.cc
+++ b/src/plugins/marker_manager/MarkerManager.cc
@@ -544,6 +544,10 @@ void MarkerManagerPrivate::SetMarker(const ignition::msgs::Marker &_msg,
 
     _markerPtr->AddPoint(vector, color);
   }
+  if (_msg.has_scale())
+  {
+    _markerPtr->SetSize(_msg.scale().x());
+  }
 }
 
 /////////////////////////////////////////////////