Triangle mesh maps for robotic applications are becoming increasingly popular, but are not yet effectively supported in the Robot Operating System (ROS). We introduce the Mesh Tools package consisting of message definitions, RViz plugins and tools, as well as a persistence layer. These tools make annotated triangle maps available in ROS and allow to publish, edit and inspect such maps within the existing ROS software stack. The persistence layer efficiently loads and stores large mesh maps. The proposed plugins and tools enable the visualization and validation of the complete layered map and associated properties to allow fluid interaction. We demonstrate the seamless integration of our tools in two application areas as a proof-of-concept: Labeling of triangle clusters for semantic mapping and robot navigation on triangle meshes in rough terrain outdoor environments by integrating our tools into an existing navigation stack.

用于机器人应用的三角形网格图正变得越来越流行，但尚未在机器人操作系统（ROS）中得到有效支持。我们介绍了网格工具包含消息定义，RViz插件和工具以及持久层的软件包。这些工具使带注释的三角形贴图可在ROS中使用，并允许在现有ROS软件堆栈中发布，编辑和检查此类贴图。持久层有效地加载和存储大型网格图。所建议的插件和工具可实现完整分层地图及其相关属性的可视化和验证，以实现流体交互。我们以概念验证的方式展示了我们的工具在两个应用领域中的无缝集成：通过将我们的工具集成到现有的导航堆栈中，在语义粗糙的室外环境中对三角形簇进行语义映射和机器人在三角形网格上的导航。