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Perhaps these related answers can help you:

  • http://answers.gazebosim.org/question/1500/can-textures-be-added-to-simple-objects-from-my-own-source/

  • http://answers.gazebosim.org/question/7922/ground-plane-texture-image/

  • https://answers.ros.org/question/49643/gazebo-usage-of-textures-pictures/