using multiple visual-tags in URDF, but the material-tag of the first one is used for both #1293
Description
I am creating an urdf and want to show 2 meshes for one link. One of them should be transparent and the other one not. My idea was to put both meshes inside their own visual tag and one of them has a material-tag, that defines the transparency. To test it, I modified the following section of this xacro:
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.2" rpy="0 0 0" />
<geometry>
<mesh filename="package://agilex_scout_mini_description/meshes/wheel.dae" />
</geometry>
<material name="half_transparent">
<color rgba="0 0 0 0.5"/>
</material>
</visual>
<visual>
<origin
xyz="0 0 0"
rpy="1.5707 0 -1.5707" />
<geometry>
<mesh filename="package://scout_description/meshes/scout_mini_base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.5707 0 -1.5707" />
<geometry>
<mesh filename="package://scout_description/meshes/scout_mini_base_link.dae" />
</geometry>
</collision>
</link>Not only the first mesh (here wheel.dae) is transparent, but both. If I switch the order, none of them is transparent. Even if I explicitly define a material with <color rgba="0 0 0 1"/> for the second mesh, it stays transparent.
It was tested with ROS2 humble.