I tried to display transparent boxes in Gazebo with XACRO. The box_color is rendered properly in RVIZ, however Gazebo/GreyTransparent is only Grey, not transparent in Gazebo.
Is it actually possible to make it transparent in Gazebo with XACRO?
<xacro:macro name="box" params="name parent trans rot">
<xacro:macro name="box">
<origin rpy="0 0 0" xyz="0 1.9 1.6"/>
<geometry>
<box size="3.00 0.100 3.200"/>
</geometry>
</xacro:macro>
<xacro:macro name="box_color">
<material name="box_color">
<color rgba=".6 .2 .4 0.5"/>
</material>
</xacro:macro>
<link name="${name}">
<visual>
<transparency>1</transparency>
<xacro:box/>
<xacro:box_color/>
</visual>
<collision>
<xacro:box/>
</collision>
<xacro:cylinder_inertial radius="0.4" length="0.1" mass="1">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<gazebo reference="${name}">
<material>Gazebo/GreyTransparent</material>
<selfCollide> False </selfCollide>
</gazebo>
<!-- JOINT -->
<joint name="${name}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${name}"/>
<origin rpy="${rot}" xyz="${trans}"/>
</joint>
<gazebo reference="${name}_joint">
<stopCfm>0.8</stopCfm>
<stopErp>0.5</stopErp>
<provideFeedback>true</provideFeedback>
<implicitSpringDamper>true</implicitSpringDamper>
<fudgeFactor>0.0</fudgeFactor>
</gazebo>
</xacro:macro>