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You can display OBJ meshes now with the mesh resource on Marker messages. Here are the important bits

from visualization_msgs.msg import Marker

msg = Marker()
msg.mesh_resource = "package://my_package/path/to/my/mesh.obj"
msg.mesh_use_embedded_materials = True   # Need this to use textures for mesh

And then note you can still color the textured mesh by setting msg.color but you can set the RGBA values all to zero if you just want to display the texture. It works, but I find the lighting options unsatisfying: