From f7304c3c2ce7bcfdaf2e05d5c75c15ac483c258b Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Wed, 17 Sep 2025 16:38:04 +0200
Subject: [PATCH] Cherry-picked fix #111

---
 flatland_server/src/world.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flatland_server/src/world.cpp b/flatland_server/src/world.cpp
index 562c3792..68c19425 100644
--- a/flatland_server/src/world.cpp
+++ b/flatland_server/src/world.cpp
@@ -288,7 +288,8 @@ void World::LoadModel(
   visualization_msgs::msg::MarkerArray body_markers;
   for (size_t i = 0; i < m->bodies_.size(); i++) {
     DebugVisualization::Get(node_)->BodyToMarkers(
-      body_markers, m->bodies_[i]->physics_body_, 1.0, 0.0, 0.0, 1.0);
+      body_markers, m->bodies_[i]->physics_body_, m->bodies_[i]->color_.r,
+      m->bodies_[i]->color_.g, m->bodies_[i]->color_.b, m->bodies_[i]->color_.a);
   }
   int_marker_manager_.createInteractiveMarker(name, pose, body_markers);