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That actually doesn't look too bad, my starting experience with Blender based COLLADA was much worse, as you can read about here. Quoting the answer by @stefan-osswald there:

"There is a bug in RViz that replaces the ambient color of Collada materials by light gray if at least one component of the specified ambient color is 0.0 (see Ticket #5237). According to the changelog, this bug is fixed in robot_model 1.6.4, which seems to be not in the electric .deb repository yet."

What you for instance can try is manually editing your .dae files and setting non-zero ambient components for the used materials.

That actually doesn't look too bad, my starting experience with Blender based COLLADA was much worse, as you can read about here. Quoting the answer by @stefan-osswald there:

"There is a bug in RViz that replaces the ambient color of Collada materials by light gray if at least one component of the specified ambient color is 0.0 (see Ticket #5237). According to the changelog, this bug is fixed in robot_model 1.6.4, which seems to be not in the electric .deb repository yet."

What you for instance can try is manually editing your .dae files and setting non-zero ambient components for the used materials.

Update to be more specific: Entries like this:

   <ambient>
      <color sid="ambient">0.4 0.4 0 1</color>
    </ambient>

have to be changed so all components are non-zero, for example:

   <ambient>
      <color sid="ambient">0.1 0.1 0.1 1</color>
    </ambient>
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That actually doesn't look too bad, my starting experience with Blender based COLLADA was much worse, as you can read about here. Quoting the answer by @stefan-osswald there:

"There is a bug in RViz that replaces the ambient color of Collada materials by light gray if at least one component of the specified ambient color is 0.0 (see Ticket #5237). According to the changelog, this bug is fixed in robot_model 1.6.4, which seems to be not in the electric .deb repository yet."

What you for instance can try is manually editing your .dae files and setting non-zero ambient components for the used materials.

/edit: Update to be more specific: Entries like this:

   <ambient>
      <color sid="ambient">0.4 0.4 0 1</color>
    </ambient>

have to be changed so all components are non-zero, for example:

   <ambient>
      <color sid="ambient">0.1 0.1 0.1 1</color>
    </ambient>

That actually doesn't look too bad, my starting experience with Blender based COLLADA was much worse, as you can read about here. Quoting the answer by @stefan-osswald there:

"There is a bug in RViz that replaces the ambient color of Collada materials by light gray if at least one component of the specified ambient color is 0.0 (see Ticket #5237). According to the changelog, this bug is fixed in robot_model 1.6.4, which seems to be not in the electric .deb repository yet."

What you for instance can try is manually editing your .dae files and setting non-zero ambient components for the used materials.

/edit: Update to be more specific: Entries like this:

   <ambient>
      <color sid="ambient">0.4 0.4 0 1</color>
    </ambient>

have to be changed so all components are non-zero, for example:

   <ambient>
      <color sid="ambient">0.1 0.1 sid="ambient">0.4 0.4 0.1 1</color>
    </ambient>