Adapted RobotModels to use the unit scaling factor for compatibility …

…with Gazebo's interpretation of Collada files

src/rviz/robot/robot_link.cpp

@@ -420,11 +420,18 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, c
     if ( mesh.filename.empty() )
       return;
 
-    scale = Ogre::Vector3(mesh.scale.x, mesh.scale.y, mesh.scale.z);
+
+
 
+    scale = Ogre::Vector3(mesh.scale.x, mesh.scale.y, mesh.scale.z);
+
     std::string model_name = mesh.filename;
     loadMeshFromResource(model_name);
 
+    //! Read unit rescaling factor from file because ASSIMP doesn't do it.
+    float unit_scale = getMeshUnitRescale(model_name);
+    scale *= unit_scale;
+
     try
     {
       entity = scene_manager_->createEntity( ss.str(), model_name );