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This bug still seems to exist in Fuerte as of Jan 2013.

See these posts:
https://kforge.ros.org/gazebo/trac/ticket/59
http://answers.ros.org/question/32849/visual-and-collision-geometry-misaligned-in-gazebo-10/

To get around this, keep all your visual rotations zero.
If the visual mesh needs to be rotated with respect to the joint reference frame, either modify the mesh to match your link frame (which is the best idea to keep your URDF simple), or add an extra dummy joint+link with the required rotation.