There are two places this is currently supported:
 1) The TRIANGLE_LIST marker, where you can specify a color per vertex.
Since this is currently using the fixed-function pipeline it can't apply
lighting to it atm.
 2) Inside a URDF, if you use COLLADA models that have materials defined,
those models will be displayed with the texture defined there.

The MESH_RESOURCE marker currently overrides the mesh's materials with the
color specified in the message -- this was an oversight that should get
fixed -- ticketed: https://code.ros.org/trac/ros-pkg/ticket/4187

Josh

On Fri, Jun 18, 2010 at 12:02 PM, Patrick Bouffard <
bouffard@eecs.berkeley.edu> wrote:

> Is this possible with MESH_RESOURCE Markers, or otherwise? I think
> I've seen screenshots/videos of PR2 in rviz with multiple colours but
> maybe those were are separate pieces. What about textures?
>
> Cheers,
> Pat
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