How to use custom textures on urdf models in gazebo?

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Hello,

I am using ROS Kinetic with Gazebo 7.x and I know that I can use gazebo materials with

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

I did manage to use a custom .jpg file as a texture on my model by

• editing the gazebo.materials script from usr/share/gazebo-7/media/materials/scripts

• adding the .jpg file into the usr/share/gazebo-7/media/materials/textures folder.

However, since those folders are supposed to be read only and editing those does not seem right, I want to know a different way. I did read about adding the following to my package.xml, but I did not have any success with it.

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

My package has the following structure:

• test_gazebo
  • package.xml
  • CMakeList.txt
  • launch/
  • media/
    • materials/
      • scripts/
        • test.materials
      • textures/
        • test.jpg
  • models/
    • test.urdf
  • ...

Is the structure wrong for the media export to work? From what I understood ${prefix} is the path to the package and gazebo should use it to use the media folder, but it does not work for me.

Do I need to change the .urdf if I am using a different media path also? What I tried is using the in my script asigned name like

  <gazebo reference="link">
    <material>Custom/TextureName</material>
  </gazebo>

Anyone might be able to help me out and knows what I am doing wrong?