How to use custom textures on urdf models in gazebo?

Hello, I am using ROS Kinetic with Gazebo 7.x and I know that I can use gazebo materials with Gazebo/Orange I did manage to use a custom .jpg file as a texture on my model by - editing the gazebo.materials script from usr/share/gazebo-7/media/materials/scripts - adding the .jpg file into the usr/share/gazebo-7/media/materials/textures folder. However, since those folders are supposed to be read only and editing those does not seem right, I want to know a different way. I did read about adding the following to my package.xml, but I did not have any success with it. gazebo_ros My package has the following structure: - test_gazebo - package.xml - CMakeList.txt - launch/ - media/ - materials/ - scripts/ - test.materials - textures/ - test.jpg - models/ - test.urdf - ... Is the structure wrong for the media export to work? From what I understood ${prefix} is the path to the package and gazebo should use it to use the media folder, but it does not work for me. Do I need to change the .urdf if I am using a different media path also? What I tried is using the in my script asigned name like Custom/TextureName Anyone might be able to help me out and knows what I am doing wrong?