Fix pose of plane visual with non-default normal vector (#574)

Signed-off-by: Addisu Z. Taddese <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

src/rendering/SceneManager.cc

@@ -258,17 +258,19 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,
  /// localPose is currently used to handle the normal vector in plane visuals
  /// In general, this can be used to store any local transforms between the
  /// parent Visual and geometry.
- rendering::VisualPtr geomVis;
  if (localPose != math::Pose3d::Zero)
  {
- geomVis = this->dataPtr->scene->CreateVisual(name + "_geom");
- geomVis->SetUserData("gazebo-entity", static_cast<int>(_id));
- geomVis->SetUserData("pause-update", static_cast<int>(0));
- geomVis->SetLocalPose(_visual.RawPose() * localPose);
- visualVis = geomVis;
+ rendering::VisualPtr geomVis =
+ this->dataPtr->scene->CreateVisual(name + "_geom");
+ geomVis->AddGeometry(geom);
+ geomVis->SetLocalPose(localPose);
+ visualVis->AddChild(geomVis);
+ }
+ else
+ {
+ visualVis->AddGeometry(geom);
  }
 
- visualVis->AddGeometry(geom);
  visualVis->SetLocalScale(scale);
 
  // set material