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Dear all.

I'm modelling the simulation of a robotic torso. Firstly, I modelled and implemented for separate the control for all the devices included in the robot (two arms, a gripper, a pan-tilt and a hand) and I verified that everything worked correctly.

However, I'm having a little problem when I try to put together all the devices in a model. I'm using xacros properly and the model is fine, because I get the robot correctly simulated without any problem and I'm able to control it. However, some elements are shown with the colour of the "base_link" element (or directly, in white colour), although I have configured them with other colours.

<gazebo reference="${name}_pantilt_base_link">  
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
</gazebo>

Trying to solve the problem, I get correctly displayed one device changing the name of the local "base_link" (firstly it was named "pantilt_base_link", and now it is "pantilt_start_link"). However, I tried to apply this solutions to other elements and I'm still getting the same error.

Anybody knows if there is some limitation in the names? I think that this is not only a stetic problem, because if Gazebo is not loading the colour, I think that is neither loading other tags, like, for example, "turnGravityOff".

Thank you very much for reading, if you need anything to clarify the question, please, notify me. Any help will be appreciated!

Cheers.