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Gazebo is using it's own materials to display the appearance of the links. You need to add a gazebo-specific material tag to each one of your links:

<gazebo reference="imu_link">
    <material>Gazebo/Red</material>
</gazebo>

Here in reference gives the name of your link. You can find the available materials in your gazebo installation: gazebo/media/materials/scripts/gazebo.material IMPORTANT: I've found out that the material tag should go exactly like this, without any extra spaces around the Gazebo/Red string. Otherwise it is just silently ignored and your link is appearing white..