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How can I do that .stl keeps the textures?

You can't. STL does not support colours or texturing.

Collada (.dae) is the only format supported by both ROS (RViz) and Gazebo which does allow you to add colour information and / or textures.

How can I do that .stl keeps the textures?

You can't. STL does not support colours or texturing.

Collada (.dae) is the only format supported by both ROS (RViz) and Gazebo which does allow you to add colour information and / or textures.textures. I'm not sure about OGRE .mesh.

An alternative might be to use Gazebo Material scripts (like in this question) which specify a texture to be applied (info on OGRE materials here). Note that this will not work in RViz.