How to properly embed marker with mesh resource

[ShivKhanna]

I have a CPP app in which I take pose data from a CSV files and embed them into ros2msg's using mcap. My pose and path and marker messages all show up in foxglove. However, my marker's mesh_resource is always an empty string and mesh_use_embedded_materials is always true even if i set it to false in my app. I have serialized the message in my CPP app. I have tried to unserialize it after that, and the data is what I set it to. Am I using this marker properly, am i using the wrong type of ros2 message? Since I am not using a ros2 enviroment to collect the original data, should I not use it as the format to embed the data? It seems like it is the most supported on the visualization side, so i used it.

Version: Master
Platform: Linux x86

Code snippet in question

visualization_msgs::msg::Marker poseStampedToMarker(
  const geometry_msgs::msg::PoseStamped& ps,
  const std::string& markerFrame,
  uint32_t id
) {
  visualization_msgs::msg::Marker marker;
  // Header assignment
  marker.header = ps.header;
  // Namespace and unique ID
  marker.ns = "uav_marker";
  marker.id = static_cast<int32_t>(id);
  // Marker type: MESH_RESOURCE
  marker.type = visualization_msgs::msg::Marker::MESH_RESOURCE;
  // Marker action: ADD
  marker.action = visualization_msgs::msg::Marker::ADD;
  // Set the marker's pose equal to the PoseStamped pose.
  marker.pose = ps.pose;
  // Scale: 1.0 means 1:1 scaling.
  marker.scale.x = 1.0;
  marker.scale.y = 1.0;
  marker.scale.z = 1.0;
  // Color (white):
  marker.color.r = 1.0f;
  marker.color.g = 1.0f;
  marker.color.b = 1.0f;
  marker.color.a = 1.0f;
  // Lifetime: 0 means infinite.
  marker.lifetime.sec = 0;
  marker.lifetime.nanosec = 0;
  marker.frame_locked = false;
  marker.mesh_resource = "file:///D:/test.glb";
  marker.mesh_use_embedded_materials = true;

  // Debug: Print the mesh_resource value
  std::cout << "[DEBUG] Marker ID " << id << " mesh_resource: " << marker.mesh_resource << std::endl;
  
  return marker;
}


  //Later in my code I use the function above and write it to mcap

    visualization_msgs::msg::Marker marker = poseStampedToMarker(ps, "map", static_cast<uint32_t>(i));

    // Serialize the Marker into a SerializedMessage
    rclcpp::SerializedMessage markerSer;
    markerSerializer.serialize_message(&marker, &markerSer);

    // Copy the serialized data into a byte vector
    std::vector<std::byte> markerCdr(markerSer.size());
    std::memcpy(markerCdr.data(),
                markerSer.get_rcl_serialized_message().buffer,
                markerSer.size());

    // Immediately deserialize the serialized message to verify the contents.
    visualization_msgs::msg::Marker deserializedMarker;
    rclcpp::Serialization<visualization_msgs::msg::Marker> markerDeser;
    markerDeser.deserialize_message(&markerSer, &deserializedMarker);
    std::cout << "[DEBUG] Deserialized Marker mesh_resource: " 
              << deserializedMarker.mesh_resource << std::endl;
    std::cout << "[DEBUG] Deserialized Marker mesh_use_embedded_materials: " 
              << (deserializedMarker.mesh_use_embedded_materials ? "true" : "false") << std::endl;

    // Create the MCAP message using the serialized data.
    mcap::Message m;
    m.channelId   = markerChannel.id;
    m.logTime     = p.timestamp_ns;
    m.publishTime = p.timestamp_ns;
    m.data        = markerCdr.data();
    m.dataSize    = markerCdr.size();

    // Write the MCAP message.
    status = writer.write(m);

From the documentation, I believe mesh_resource should be populated with my file link as seen above in the code snippet. I can also attach my example mcap file if needed. Any direction or help would be appreciated. Thanks!

[ShivKhanna]

uav_data.zip

[ShivKhanna]

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