glTF meshes shown with incorrect orientation

[calderpg-tri]

ROS 2 distro: Humble
Rviz version: 11.2.12
OS: Ubuntu 22.04.4

At TRI, we use glTF assets for most of our URDF and Sdformat models. These models are displayed in Rviz with an incorrect orientation due to differences in the frame conventions between Rviz, Assimp, and glTF:

• ROS and Rviz use +X forward/+Y left/+Z up
• Assimp uses the OpenGL convention +X right/+Y up/+Z backwards
• glTF uses +Z forward/+Y up/+X left

An example of incorrect mesh orientations using glTF assets (note the transparent gray spheres/boxes are the collision model)

For now, we work around the issue by applying an additional offset transform to meshes we send (via visualization_msgs::Marker) to Rviz, so that glTF assets are displayed correctly

Other tools/viewers (e.g. Meshcat) display the same glTF assets with the correct orientation.

cc @EricCousineau-TRI @IanTheEngineer