This package simply clones an URDF with all <visual> elements set to appear
as flat black in RViz. This can be useful when visualizing augmented scenes in
teleoperation.
See make_shadow_urdf.launch for example usage.
When viewing in RViz, create a RobotModel display and set it to
<<MODEL_PARAM>>_shadow where <<MODEL_PARAM>> is the parameter where your
urdf is stored. Then use that display in conjunction with an RViz Camera
display which is set to Backround + Overlay compositing.