I am trying to implement brake lights on a URDF model using a Gazebo ROS plugin which utilizes Gazebo transport to publish a ~/visual message. The message works, and I can spawn a visual in the world, but the ".setparentname" tag appears to ignore anything placed inside, including fully scoped names of links (not ones with fixed joints) present in the model. As a result, the spawned visual is not connected to the model and remains static in the world. The Haptix and DRCSIM tutorials and source code provide some guidance, but I cannot find a complete solution. Adding a visual plugin inside the tag of an SDF world file works fine for manipulating visuals of models inside the world, but so far all of the iterations I've tried with this plugin inside a URDF file have been unsuccessful. Does anyone have an idea how to either add a visual (link with no collision) or modify the visual elements of an existing link using a model plugin inside a URDF file?