add color to avoid default color 'red' for collision meshes

ur_description/urdf/ur10.urdf.xacro

@@ -70,6 +70,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -100,6 +103,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -130,6 +136,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -160,6 +169,9 @@
          <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -190,6 +202,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -220,6 +235,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -250,6 +268,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae"/>
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>

ur_description/urdf/ur5.urdf.xacro

@@ -85,6 +85,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -115,6 +118,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -145,6 +151,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -175,6 +184,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -205,6 +217,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -235,6 +250,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>
@@ -265,6 +283,9 @@
         <geometry>
           <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae" />
         </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
       </visual>
       <collision>
         <geometry>