diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..e9736ff
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,9 @@
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.tar.gz filter=lfs diff=lfs merge=lfs -text
+*.ompldb filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d82f6e5..ca116ca 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -198,6 +198,13 @@ install(
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
+# Install shared resources
+install(DIRECTORY launch    DESTINATION share/${PROJECT_NAME})
+install(
+  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/meshes"
+  DESTINATION "share/${PROJECT_NAME}"
+)
+
 # Install header files
 install(
   DIRECTORY include/
@@ -244,4 +251,4 @@ if (BUILD_TESTING)
   )
 endif()
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/meshes/bishop.stl b/meshes/bishop.stl
new file mode 100644
index 0000000..58bbc03
--- /dev/null
+++ b/meshes/bishop.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a40294e09568b51e9c21aa0a6d3f877fa56e4bb3c3c74a2d43428bb1633a27
+size 18984
diff --git a/meshes/king.stl b/meshes/king.stl
new file mode 100644
index 0000000..4fcbe4f
--- /dev/null
+++ b/meshes/king.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467d2b302f63c5287a1fc9e2b0a068018a00ba1d81f21e0966dbfcdaf71a6df2
+size 25084
diff --git a/meshes/knight.stl b/meshes/knight.stl
new file mode 100644
index 0000000..1e86c32
--- /dev/null
+++ b/meshes/knight.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e2b531c2b5a735be0b85eebeae42061a307ed51ac7c4c98ab3432b5f7abb72
+size 24184
diff --git a/meshes/pawn.stl b/meshes/pawn.stl
new file mode 100644
index 0000000..39655c5
--- /dev/null
+++ b/meshes/pawn.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ed9c604ecf94dda2674376e321c2e3ad4a578d15106b6ab15861a5ae50565a
+size 12784
diff --git a/meshes/queen.stl b/meshes/queen.stl
new file mode 100644
index 0000000..024d5f8
--- /dev/null
+++ b/meshes/queen.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6703c0df91f3836d67aaab7188350baab02c60ab328939a35464c787bb2f03d8
+size 22384
diff --git a/meshes/rook.stl b/meshes/rook.stl
new file mode 100644
index 0000000..fd641b0
--- /dev/null
+++ b/meshes/rook.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b28442d43bce4665199d19b6ae26194d90186abe2808b658a0fca4f4161ff95
+size 11884
diff --git a/src/rviz_visual_tools_demo.cpp b/src/rviz_visual_tools_demo.cpp
index af5f4b8..230a332 100644
--- a/src/rviz_visual_tools_demo.cpp
+++ b/src/rviz_visual_tools_demo.cpp
@@ -358,7 +358,33 @@ class RvizVisualToolsDemo : public rclcpp::Node
     */
 
     // --------------------------------------------------------------------
-    // TODO(davetcoleman): publishMesh
+    RCLCPP_INFO(get_logger(), "Displaying Meshes");
+    pose1 = Eigen::Isometry3d::Identity();
+    y += space_between_rows;
+    pose1.translation().y() = y;
+
+    step = 0.2;
+    const std::array<double, 6> thetas = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+    const std::array<std::string, 6> meshes = {
+      "pawn", "knight", "bishop", "rook", "queen", "king"
+    };  // "pig" };
+    const std::array<rvt::colors, 6> mesh_colors = { rvt::RED,   rvt::ORANGE, rvt::YELLOW,
+                                                     rvt::GREEN, rvt::BLACK,  rvt::WHITE };
+    const std::array<double, 6> scales = { 0.05, 0.05, 0.05, 0.05, 0.05, 0.05 };
+
+    for (size_t i = 0; i < meshes.size(); ++i)
+    {
+      visual_tools_->publishMesh(pose1 * Eigen::AngleAxisd(thetas[i], Eigen::Vector3d::UnitZ()),
+                                 "package://rviz_visual_tools/meshes/" + meshes[i] + ".stl",
+                                 mesh_colors[i], scales[i]);
+      if (i == 0.0)
+      {
+        publishLabelHelper(pose1, "Meshes");
+      }
+
+      pose1.translation().x() += step;
+    }
+    visual_tools_->trigger();
 
     // --------------------------------------------------------------------
     // TODO(davetcoleman): publishPolygon
@@ -656,7 +682,7 @@ int main(int argc, char* argv[])
 
   // Allow the action server to recieve and send ros messages
   executor->add_node(demo);
-  executor->spin_some();
+  executor->spin_once();
 
   double x_location = 0;
   demo->testRows(x_location);