ros 中rviz三维模型的显示 Marker.MESH_RESOURCE显示python代码

直接贴实现代码吧，里面的引用模型可以自己建立，也可以用网上的资源。

import roslib; roslib.load_manifest("interactive_markers")
import rospy

from interactive_markers.interactive_marker_server import *
from visualization_msgs.msg import *


# Ros imports
import rospy


# Messages
import actionlib
import actionlib_msgs.msg as actionlib_msgs
import std_msgs.msg as std_msgs
import geometry_msgs.msg as geometry_msgs
import visualization_msgs.msg as visualization_msgs
import rospy
import tf
import os
import sys
import geometry_msgs.msg
import std_msgs.msg
from geometry_msgs.msg import PoseWithCovarianceStamped
from geometry_msgs.msg import *
from std_msgs.msg import *
from visualization_msgs.msg import Marker

global pubVehiclePosition
pubVehiclePosition = rospy.Publisher('vehicle_robot_position', Marker, queue_size=10)



if __name__=="__main__":
    rospy.init_node("road_network_view")

    rate = rospy.Rate(100)
    marker = Marker()
    marker.header.frame_id = '/map'
    marker.header.stamp = rospy.Time.now()
    marker.id = 0  # enumerate subsequent markers here
    marker.action = Marker.ADD  # can be ADD, REMOVE, or MODIFY
    marker.ns = "vehicle_model"
    marker.type = Marker.MESH_RESOURCE

    marker.pose.position.x = 10.0
    marker.pose.position.y = 10.0
    marker.pose.position.z = 0.0
    marker.pose.orientation.x = 0.0
    marker.pose.orientation.y = 0.0
    marker.pose.orientation.z = 0.0
    marker.pose.orientation.w = 1.0
    marker.scale.x = 0.5  # artifact of sketchup export
    marker.scale.y = 0.5  # artifact of sketchup export
    marker.scale.z = 0.5  # artifact of sketchup export

    marker.color.r = 1.0
    marker.color.g = 1.0
    marker.color.b = 1.0
    marker.color.a = 1.0

    marker.lifetime = rospy.Duration()  # will last forever unless modifie

    # marker.mesh_resource = "file:///home/user/Downloads/Audi R8/Models/Audi R8.dae"
    marker.mesh_resource = "file:///home/user/Downloads/3d/35 mph speed limit sign.blend"

    marker.mesh_use_embedded_materials = False
    marker.text = "30"


    for i in range(100):
        rate.sleep()
        pubVehiclePosition.publish(marker)
    rospy.spin()