improve racecar visuals a little bit with a texture on the wheels

data/racecar/meshes/cone.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl material_1
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.602353 0.301176 0.050196
+Ks 0.500000 0.500000 0.500000
+Ni -1.000000
+d 1.000000
+illum 2

data/racecar/meshes/cone.obj

@@ -0,0 +1,125 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cone.mtl
+o SketchUp.001_ID10
+v -0.051962 0.030000 0.005000
+v -0.060000 0.000000 0.005000
+v 0.000000 0.000000 0.170000
+v -0.051962 -0.030000 0.005000
+v 0.000000 0.000000 0.170000
+v -0.030000 0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 0.000000 0.170000
+v -0.030000 -0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 0.060000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 -0.060000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.030000 0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.030000 -0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.051962 0.030000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.051962 -0.030000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.060000 0.000000 0.005000
+v 0.000000 0.000000 0.170000
+vn -0.911300 0.244200 0.331400
+vn -0.911300 -0.244200 0.331400
+vn -0.667100 0.667100 0.331400
+vn -0.667100 -0.667100 0.331400
+vn -0.244200 0.911300 0.331400
+vn -0.244200 -0.911300 0.331400
+vn 0.244200 0.911300 0.331400
+vn 0.244200 -0.911300 0.331400
+vn 0.667100 0.667100 0.331400
+vn 0.667100 -0.667100 0.331400
+vn 0.911300 0.244200 0.331400
+vn 0.911300 -0.244200 0.331400
+usemtl material_1
+s 1
+f 1//1 2//1 3//1
+f 2//2 4//2 5//2
+f 6//3 1//3 7//3
+f 8//4 4//4 9//4
+f 10//5 11//5 6//5
+f 12//6 9//6 13//6
+f 14//7 15//7 11//7
+f 16//8 13//8 17//8
+f 18//9 19//9 15//9
+f 20//10 17//10 21//10
+f 19//11 22//11 23//11
+f 23//12 24//12 21//12
+o SketchUp_ID2
+v 0.075000 0.075000 0.000000
+v -0.075000 -0.075000 0.000000
+v -0.075000 0.075000 0.000000
+v 0.075000 -0.075000 0.000000
+v -0.075000 0.075000 0.005000
+v 0.075000 0.075000 0.000000
+v -0.075000 0.075000 0.000000
+v 0.075000 0.075000 0.005000
+v 0.075000 0.075000 0.000000
+v 0.075000 -0.075000 0.005000
+v 0.075000 -0.075000 0.000000
+v 0.075000 0.075000 0.005000
+v 0.075000 -0.075000 0.005000
+v -0.075000 -0.075000 0.000000
+v 0.075000 -0.075000 0.000000
+v -0.075000 -0.075000 0.005000
+v -0.075000 0.075000 0.005000
+v -0.075000 -0.075000 0.000000
+v -0.075000 -0.075000 0.005000
+v -0.075000 0.075000 0.000000
+v -0.075000 -0.075000 0.005000
+v -0.060000 0.000000 0.005000
+v -0.075000 0.075000 0.005000
+v -0.051962 -0.030000 0.005000
+v -0.030000 -0.051962 0.005000
+v 0.000000 -0.060000 0.005000
+v 0.075000 -0.075000 0.005000
+v 0.030000 -0.051962 0.005000
+v 0.051962 -0.030000 0.005000
+v 0.060000 0.000000 0.005000
+v 0.000000 0.060000 0.005000
+v 0.075000 0.075000 0.005000
+v -0.030000 0.051962 0.005000
+v -0.051962 0.030000 0.005000
+v 0.030000 0.051962 0.005000
+v 0.051962 0.030000 0.005000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn 0.000000 -1.000000 0.000000
+vn -1.000000 0.000000 0.000000
+vn 0.000000 0.000000 1.000000
+usemtl material_1
+s 1
+f 25//13 26//13 27//13
+f 26//13 25//13 28//13
+f 29//14 30//14 31//14
+f 30//14 29//14 32//14
+f 33//15 34//15 35//15
+f 34//15 33//15 36//15
+f 37//16 38//16 39//16
+f 38//16 37//16 40//16
+f 41//17 42//17 43//17
+f 42//17 41//17 44//17
+f 45//18 46//18 47//18
+f 46//18 45//18 48//18
+f 48//18 45//18 49//18
+f 49//18 45//18 50//18
+f 50//18 45//18 51//18
+f 50//18 51//18 52//18
+f 52//18 51//18 53//18
+f 53//18 51//18 54//18
+f 47//18 55//18 56//18
+f 55//18 47//18 57//18
+f 57//18 47//18 58//18
+f 58//18 47//18 46//18
+f 56//18 55//18 59//18
+f 56//18 59//18 60//18
+f 56//18 60//18 54//18
+f 56//18 54//18 51//18

data/racecar/meshes/hokuyo.mtl

@@ -0,0 +1,20 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl black-material
+Ns 21.568627
+Ka 0.000000 0.000000 0.000000
+Kd 0.016250 0.016250 0.016250
+Ks 0.125000 0.125000 0.125000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl white_001-material
+Ns -1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 0.556090 0.556090 0.556090
+Ks 0.031250 0.031250 0.031250
+Ni 1.000000
+d 1.000000
+illum 2

data/racecar/meshes/left_front_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

data/racecar/meshes/left_rear_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

data/racecar/meshes/right_front_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

data/racecar/meshes/right_rear_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

data/racecar/racecar.urdf

@@ -45,9 +45,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_rear_wheel.STL"/>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       robot
@@ -85,9 +85,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_rear_wheel.STL"/>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -187,9 +187,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_front_wheel.STL"/>
+        <mesh filename="meshes/left_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
@@ -225,9 +225,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_front_wheel.STL"/>
+        <mesh filename="meshes/right_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -269,7 +269,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hokuyo.dae"/>
+        <mesh filename="meshes/hokuyo.obj"/>
         <material name="grey"/>
       </geometry>
     </visual>
@@ -454,8 +454,11 @@
       </plugin>
     </sensor>
   </gazebo>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
+    <color rgba="0. 0. 0. 1.0"/>
   </material>
   <material name="blue">
     <color rgba="0.0 0.0 0.8 1.0"/>