ROS Programming: Building Powerful Robots

Using meshes in the link

We can insert a primitive shape to a link or we can insert a mesh file using the mesh tag. The following example shows how to insert a mesh of 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>