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add mesh vertex colours and normals #287

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add mesh vertex colours and normals #287

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ed965f2
add vertex color
christian-rauch Jun 24, 2025
77161df
add vertex normals
christian-rauch Jun 24, 2025
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3 changes: 2 additions & 1 deletion shape_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ endif()

find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

set(msg_files
Expand All @@ -23,7 +24,7 @@ set(msg_files
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
DEPENDENCIES geometry_msgs
DEPENDENCIES geometry_msgs std_msgs
ADD_LINTER_TESTS
)

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2 changes: 2 additions & 0 deletions shape_msgs/msg/Mesh.msg
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Expand Up @@ -5,3 +5,5 @@ MeshTriangle[] triangles

# The actual vertices that make up the mesh.
geometry_msgs/Point[] vertices
std_msgs/ColorRGBA[] vertex_colors
geometry_msgs/Vector3[] vertex_normals
1 change: 1 addition & 0 deletions shape_msgs/package.xml
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Expand Up @@ -19,6 +19,7 @@
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<exec_depend>rosidl_default_runtime</exec_depend>

<test_depend>ament_lint_common</test_depend>
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