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Questions to SDF, urdf, xacro, material, textures using Gazebo


My question is basically how to add material scripts with a ROS package,and to use it within xacro files like the standard Gazebo material so I also get textures.

I started this question in cause I thought it has more to do with ros, catkin and xacro.

But maybe a cross link here to it, can do no harm.

I don't know if that's the correct way to do so, but it relates to both Gazebo and ROS. If the cross link to ROS answers is not wanted, you can just delete this post.