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Take a look to these links :

http://answers.gazebosim.org/question/3336/change-color-of-models/

http://sdformat.org/spec?elem=material

You can change the color with the ambient, diffuse, etc ... tag.

Take a look to these links :

http://answers.gazebosim.org/question/3336/change-color-of-models/

http://sdformat.org/spec?elem=material

You can change the color with the ambient, diffuse, etc ... tag.

<gazebo reference="your_link_name">
  <visual name="blabla">
    <material>
      <ambient>1 0 0 1</ambient>
      <diffuse>1 0 0 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <emissive>0 0 0 0</emissive>
    </material>
  </visual>
</gazebo>