There are two places this is currently supported:<br> 1) The TRIANGLE_LIST marker, where you can specify a color per vertex.  Since this is currently using the fixed-function pipeline it can&#39;t apply lighting to it atm.<br>

 2) Inside a URDF, if you use COLLADA models that have materials defined, those models will be displayed with the texture defined there.<br><br>The MESH_RESOURCE marker currently overrides the mesh&#39;s materials with the color specified in the message -- this was an oversight that should get fixed -- ticketed: <a href="https://code.ros.org/trac/ros-pkg/ticket/4187">https://code.ros.org/trac/ros-pkg/ticket/4187</a><br>

<br>Josh<br><br><div class="gmail_quote">On Fri, Jun 18, 2010 at 12:02 PM, Patrick Bouffard <span dir="ltr">&lt;<a href="mailto:bouffard@eecs.berkeley.edu">bouffard@eecs.berkeley.edu</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">

Is this possible with MESH_RESOURCE Markers, or otherwise? I think<br>
I&#39;ve seen screenshots/videos of PR2 in rviz with multiple colours but<br>
maybe those were are separate pieces. What about textures?<br>
<br>
Cheers,<br>
Pat<br>
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