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Found the way to do it. This works for me:

Well in the package.xml you need:

<run_depend>gazebo_ros</run_depend>

<export>    
  <gazebo_ros gazebo_media_path="${prefix}"/>                             
</export>

${prefix} == package directory

and the folder structure is like this:

  • media
    • materials
      • scripts
      • texture

in the xacro file:

<gazebo reference="link">                           
<material>YourMaterial</material>
</gazebo>

I guess in the process I changed the folder structure multiple times, maybe I first missed the media folder.