diff --git a/src/plugins/marker_manager/MarkerManager.cc b/src/plugins/marker_manager/MarkerManager.cc
index 4a605eaf5..004679cfa 100644
--- a/src/plugins/marker_manager/MarkerManager.cc
+++ b/src/plugins/marker_manager/MarkerManager.cc
@@ -611,6 +611,8 @@ MarkerManager::Implementation::MsgToType(const gz::msgs::Marker &_msg)
       return gz::rendering::MarkerType::MT_BOX;
     case gz::msgs::Marker::CAPSULE:
       return gz::rendering::MarkerType::MT_CAPSULE;
+    case gz::msgs::Marker::CONE:
+      return gz::rendering::MarkerType::MT_CONE;
     case gz::msgs::Marker::CYLINDER:
       return gz::rendering::MarkerType::MT_CYLINDER;
     case gz::msgs::Marker::LINE_STRIP:
diff --git a/src/plugins/transport_scene_manager/TransportSceneManager.cc b/src/plugins/transport_scene_manager/TransportSceneManager.cc
index 267baa6cf..a2a342ba0 100644
--- a/src/plugins/transport_scene_manager/TransportSceneManager.cc
+++ b/src/plugins/transport_scene_manager/TransportSceneManager.cc
@@ -689,6 +689,13 @@ rendering::GeometryPtr TransportSceneManager::Implementation::LoadGeometry(
     if (_msg.box().has_size())
       scale = msgs::Convert(_msg.box().size());
   }
+  else if (_msg.has_cone())
+  {
+    geom = this->scene->CreateCone();
+    scale.X() = _msg.cone().radius() * 2;
+    scale.Y() = scale.X();
+    scale.Z() = _msg.cone().length();
+  }
   else if (_msg.has_cylinder())
   {
     geom = this->scene->CreateCylinder();