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You need to define the color separately such as in the file materials.xacro:

  <material name="orange">
    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
  </material>

Then you can use specifying a Gazebo material tag for each link, such as:

  <gazebo reference="link1">
    <material>Gazebo/Orange</material>
  </gazebo>

For further information visit: http://gazebosim.org/tutorials/?tut=ros_urdf

You need to define the color separately such as in the file materials.xacro:

  <material name="orange">
name="Orange">
    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
  </material>

Import materials.xacro in your file:

<xacro:include filename="$(find your_robot_description)/urdf/materials.xacro" />

Then you can use the color specifying a Gazebo material tag for each link, such as:

<link name="$link_name">
 <gazebo reference="link1">
...
  <visual>
 <material>Gazebo/Orange</material>
 ...
 </gazebo>
  <material name="Orange"/>
  </visual>
  ...
</link>

For further information visit: http://gazebosim.org/tutorials/?tut=ros_urdf