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If the mesh_use_embedded_materials flag is set to true and the mesh is of a type which supports embedded materials (such as COLLADA), the material defined in that file will be used instead of the color defined in the marker.

http://wiki.ros.org/rviz/DisplayTypes/Marker#Mesh_Resource_.28MESH_RESOURCE.3D10.29_.5B1.1.2B-.5D

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