Marker message textures release note

source/Releases/Release-Humble-Hawksbill.rst

@@ -87,6 +87,48 @@ Related PRs: `ros2/launch_ros#249 <https://github.com/ros2/launch_ros/pull/249>`
 Changes since the Galactic release
 ----------------------------------
 
+common_interfaces
+^^^^^^^^^^^^^^^^^
+
+Support Textures and Embedded Meshes for Marker Messages
+""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+
+These two additions will improve the ability to both visualize data in new ways with standard messages and, simultaneously, enable the ability to track this data in rosbag.
+
+**Textures** bring the addition of three new fields to markers:
+
+.. code-block:: bash
+
+   # Texture resource is a special URI that can either reference a texture file in
+   # a format acceptable to (resource retriever)[https://index.ros.org/p/resource_retriever/]
+   # or an embedded texture via a string matching the format:
+   #   "embedded://texture_name"
+   string texture_resource
+   # An image to be loaded into the rendering engine as the texture for this marker.
+   # This will be used iff texture_resource is set to embedded.
+   sensor_msgs/CompressedImage texture
+   # Location of each vertex within the texture; in the range: [0.0-1.0]
+   UVCoordinate[] uv_coordinates
+
+RViz will fully support texture rendering through the embedded format.
+
+To those familiar with ``mesh_resource``, ``resource_retriever`` should be familiar. This will allow the programmer to choose where they want to load data from, either a local file or a networked file. In the interest of being able to record all data in a rosbag, the ability to embed the texture image is included.
+
+**Meshes** were modified in a similar way to add the ability to embed a raw Mesh file for the purpose of recording and are modified in a similar way. The Meshfile message has two fields:
+
+.. code-block:: bash
+
+   # The filename is used for both debug purposes and to provide a file extension
+   # for whatever parser is used.
+   string filename
+
+   # This stores the raw text of the mesh file.
+   uint8[] data
+
+The embedded ``Meshfile`` message is not yet supported in implementation.
+
+Related PRs: `ros2/common_interfaces#153 <https://github.com/ros2/common_interfaces/pull/153>`_ `ros2/rviz#719 <https://github.com/ros2/rviz/pull/719>`_
+
 rclcpp
 ^^^^^^