ROS中marker的mesh_resource的使用案例

在rviz中可以加載visualization_msgs::MarkerArray類型，這其中可以加載mesh_resource類型的marker，例子如下：

visualization_msgs::MarkerArray generateCarModel(nav_msgs::Odometry loc_info) {
  visualization_msgs::MarkerArray markerArray_msg;
  visualization_msgs::Marker car_mesh;
  car_mesh.header.stamp = ros::Time::now();
  car_mesh.header.frame_id = "map";
  car_mesh.type = visualization_msgs::Marker::MESH_RESOURCE;
  car_mesh.action = visualization_msgs::Marker::ADD;
  car_mesh.id = 0;
  car_mesh.mesh_resource =
      "file:///home/pi_catkin_ws/src/data/car.dae";
  car_mesh.pose.position = loc_info.pose.pose.position;

  tf::Quaternion tf_quat;
  tf::quaternionMsgToTF(loc_info.pose.pose.orientation, tf_quat);
  double roll, pitch, yaw;
  tf::Matrix3x3(tf_quat).getRPY(roll, pitch, yaw);
  tf::Quaternion q;
  q.setRPY(roll + M_PI_2, pitch, yaw + M_PI);
  geometry_msgs::Quaternion msg_q;
  tf::quaternionTFToMsg(q, msg_q);

  car_mesh.pose.orientation = msg_q;
  car_mesh.color.a = 1.0;
  car_mesh.color.r = 1.0;
  car_mesh.color.g = 0.0;
  car_mesh.color.b = 0.0;

  float major_scale = 1.0;

  car_mesh.scale.x = major_scale;
  car_mesh.scale.y = major_scale;
  car_mesh.scale.z = major_scale;
  markerArray_msg.markers.push_back(car_mesh);
  return markerArray_msg;
}
           

模型可以使用dae模型