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Check this tutorial, i believe it will help you understand: as it will help you understand more details.

But to your specific question, set the background color:

rosparam set /background_b <value>

for example if you want to set blue color to 255:

rosparam set /background_b 255

In a similar you can set /background_r for the red and /background_g for green.

So the combination of RGB allows you to create 16 million combination colors.