Mastering ROS for Robotics Programming - Second Edition

Using meshes in the link

We can insert a primitive shape in to a link, or we can insert a mesh file using the mesh tag. The following example shows how to insert a mesh into the vision sensor:

<visual> 
  <origin xyz="0 0 0" rpy="0 0 0"/> 
  <geometry> 
    <mesh filename=      "package://mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.dae"/> 
  </geometry> 
<material name="DarkGrey"/> 
</visual>