According to the ROS wiki (rviz/DisplayTypes/Marker sec. 1.3.11) for a mesh resource marker, if the color is set to anything other than r=0, g=0, b=0, a=0, the marker color and alpha will be used to tint the mesh, so this is now possible.
General code clean up.
Merge pull request #49 from eratner/devel

Colored mesh resource markers