Unimplemented logic to render embedded meshes in Marker messages

[Yadunund]

Generated by Generative AI

No response

Operating System:

Ubuntu 24.04

ROS version or commit hash:

Rolling

RMW implementation (if applicable):

NA

RMW Configuration (if applicable):

NA

Client library (if applicable):

NA

'ros2 doctor --report' output

ros2 doctor --report

<COPY OUTPUT HERE>

Steps to reproduce issue

Publish a visualization_msgs::msg::Marker msg with type MESH_RESOURCE and with a mesh file embedded in the mesh_file field.

Expected behavior

The mesh is rendered.

Actual behavior

The mesh is not rendered.

Additional information

RViz supports the visualization of visualization_msgs::msg::Marker type which includes rendering a marker of type MESH_RESOURCE.

According to the documentation here one may either provide a URI via string mesh_resource or set this field to embedded://mesh_name and embed the mesh in the MeshFile mesh_file field.

However it appears that logic to handle embedded meshes is not implemented in MeshResourceMarker.

We could update the signature of rviz_rendering::loadMeshFromResource to also pass in the MeshFile mesh_file and directly load from mesh_file.data if mesh_resource contains embedded://. However we may not be able to backport his change to jazzy since it breaks API.

An alternative could be to add another API to AssimpLoader to load directly from MeshFile. Unsure if we're okay backporting new APIs.

Or we could directly check if the mesh is embedded here and rely on assimp to load it in.

[ahcorde]

In rolling we can change the signature but we should deprecated the old method (If required)

Adding new signatures should not affect ABI, it will be fine for backporting them