colored_link.urdf.xacro

<?xml version="1.0"?>

<!--
	Copyright (c) 2019 Andrey Stepanov (standmit)
	
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
       
    <xacro:macro name="colored_link" params="name **visual color transparency:=0 **other">
        <link name="${name}">
            <visual>
                <xacro:insert_block name="visual" />
                <material name="${name}_material">
                    <color rgba="${color} ${1-transparency}" />
                </material>
            </visual>
            <xacro:insert_block name="other" />
        </link>
        
        <gazebo reference="${name}">
            <visual>
                <material>
                    <ambient>${color} 1</ambient>
                    <diffuse>${color} 1</diffuse>
                    <specular>1 1 1 1</specular>
                    <emissive>0 0 0 1</emissive>
                </material>
                <transparency>${transparency}</transparency>
            </visual>
        </gazebo>
    </xacro:macro>
    
</robot>