ros-visualization/rviz — pull request #812 by k-okada (2014-09-14 16:03:35+00:00)
Title: support multiple material for one link

This is patches for setting multiple materials for one link. I understand this is not clean patch, but anyway send PR and hoping someone will find more better way.

c.f: http://answers.ros.org/question/154816/color-issue-with-urdf-and-multiple-visual-tags/

you need following patch to urdf_parser.
```
diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
index b69824a..e324651 100644
--- a/urdf_parser/src/link.cpp
+++ b/urdf_parser/src/link.cpp
@@ -380,7 +380,8 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
}
}

- vis.group_name = std::string("default");
+ //vis.group_name = std::string("default");
+ vis.group_name = vis.material_name;
const char *group_name_char = config->Attribute("group");
if (group_name_char)
logWarn("The notion of a group name for visual tags is not supported by URDF.");
```