Mastering ROS for Robotics Programming - Second Edition

Adding colors and textures to the Gazebo robot model

We can see in the simulated robot that each link has different colors and textures. The following tags inside the xacro file provide textures and colors to robot links:

  <gazebo reference="bottom_link"> 
    <material>Gazebo/White</material> 
  </gazebo> 
  <gazebo reference="base_link"> 
    <material>Gazebo/White</material> 
  </gazebo> 
  <gazebo reference="shoulder_pan_link"> 
    <material>Gazebo/Red</material> 
  </gazebo>