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Yes, you can display the mesh and texture using a Marker message. See The Mesh Resource marker for more info.
In general, you can visualize any mesh with this message that Ogre can use. I have successfully visualized Collada meshes with textures using this method.
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Yes, It is possible to display an arbitrary mesh in Rviz, but you cannot currently display a OBJ mesh. Currently you can display the a collada, stl, and Ogre mesh and texture file. You display them using a Marker marker message. See The You can find out more about displaying meshes with markers by looking at the Mesh Resource marker for more info. .
In general, you can visualize any mesh with this message that Ogre can use. I have successfully visualized Collada meshes with textures using this method.
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