diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 41afca540a..0000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-sudo: required
-dist: trusty
-language: generic
-compiler:
-  - gcc
-install:
-  - export CI_ROS_DISTRO=indigo
-  - echo $CI_ROS_DISTRO
-# Add ROS repositories
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update
-# Install and initialize rosdep
-  - sudo apt-get install python-rosdep -y
-  - sudo `which rosdep` init
-  - rosdep update
-# Use rosdep to install rviz's dependencies
-  - rosdep install --default-yes --from-paths ./ --rosdistro $CI_ROS_DISTRO
-script:
-  - source /opt/ros/$CI_ROS_DISTRO/setup.bash
-  - mkdir build
-  - cd build
-  - cmake .. -DCMAKE_INSTALL_PREFIX=./install
-  - make -j1
-  - make -j1 tests
-  - make -j1 run_tests
-  - catkin_test_results .
-  - make -j1 install
-notifications:
-  email: false
diff --git a/src/rviz/default_plugin/markers/mesh_resource_marker.cpp b/src/rviz/default_plugin/markers/mesh_resource_marker.cpp
index 0c48307f25..02c84495bb 100644
--- a/src/rviz/default_plugin/markers/mesh_resource_marker.cpp
+++ b/src/rviz/default_plugin/markers/mesh_resource_marker.cpp
@@ -192,8 +192,7 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
       entity_->setMaterial(default_material);
     }
 
-   
-
+    update_color = true;
 
     handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
     handler_->addTrackedObject(entity_);
diff --git a/src/test/mesh_marker_test.cpp b/src/test/mesh_marker_test.cpp
index 12623f02fc..23a129c87f 100644
--- a/src/test/mesh_marker_test.cpp
+++ b/src/test/mesh_marker_test.cpp
@@ -8,16 +8,54 @@
 
 ros::Publisher g_marker_pub;
 
-void publishMesh( int id, float x, float y, float r, float g, float b, float a, bool use_embedded_materials, bool mesh )
+void
+publishText(int id, float x, float y, const std::string & text)
 {
   visualization_msgs::Marker marker;
   marker.header.frame_id = "/base_link";
   marker.header.stamp = ros::Time::now();
   marker.ns = "mesh";
-  marker.type = mesh ? (int) visualization_msgs::Marker::MESH_RESOURCE : (int) visualization_msgs::Marker::SPHERE;
+  marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
   marker.action = visualization_msgs::Marker::ADD;
   marker.pose.orientation.x = 0.0;
   marker.pose.orientation.y = 0.0;
+  marker.pose.orientation.z = 0.0;
+  marker.pose.orientation.w = 1.0;
+  marker.color.r = 1;
+  marker.color.g = 1;
+  marker.color.b = 1;
+  marker.color.a = 1;
+  marker.scale.x = 0.2;
+  marker.scale.y = 0.2;
+  marker.scale.z = 0.2;
+  marker.text = text;
+  marker.id = id;
+  marker.pose.position.x = x;
+  marker.pose.position.y = y;
+
+  g_marker_pub.publish(marker);
+}
+
+void
+publishMesh(
+  int id, float x, float y,
+  float r, float g, float b, float a,
+  bool use_embedded_materials, bool mesh)
+{
+  using visualization_msgs::Marker;
+
+  Marker marker;
+  marker.header.frame_id = "/base_link";
+  marker.header.stamp = ros::Time::now();
+  marker.ns = "mesh";
+  if (mesh) {
+    marker.type = Marker::MESH_RESOURCE;
+  } else {
+    marker.type = Marker::SPHERE;
+  }
+  marker.action = Marker::ADD;
+  marker.pose.orientation.x = 0.0;
+  marker.pose.orientation.y = 0.0;
   marker.pose.orientation.z = 0.1;
   marker.pose.orientation.w = 1.0;
   marker.scale.x = 1;
@@ -37,83 +75,137 @@ void publishMesh( int id, float x, float y, float r, float g, float b, float a,
   g_marker_pub.publish(marker);
 }
 
-void publishCallback(const ros::TimerEvent&)
+void
+publishMeshes()
 {
-  static uint32_t counter = 0;
-
   ROS_INFO("Publishing");
 
   int id = 0;
   float x = 0;
   float y = 0;
 
-  publishMesh( id, x, y, 1, 1, 1, 1, true, true);
+  publishText(id, x - 1, y, "mesh, use_embedded_materials = true");
+  id++;
+  publishText(id, x, y - 1, "rbg: 0.0 0.0 0.0, a: 0");
+  id++;
+  publishMesh(id, x, y, 0, 0, 0, 0, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, .5, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 1");
+  id++;
+  publishMesh(id, x, y, 1, 1, 1, 1, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, 0, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 0.5");
+  id++;
+  publishMesh(id, x, y, 1, 1, 1, .5, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 1, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 0");
+  id++;
+  publishMesh(id, x, y, 1, 1, 1, 0, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, .5, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 1");
+  id++;
+  publishMesh(id, x, y, 1, 0, 0, 1, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 0, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 0.5");
+  id++;
+  publishMesh(id, x, y, 1, 0, 0, .5, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 1, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 0");
+  id++;
+  publishMesh(id, x, y, 1, 0, 0, 0, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, .5, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 1");
+  id++;
+  publishMesh(id, x, y, 1, .5, .5, 1, true, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 0, true, true);
+  publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 0.5");
+  id++;
+  publishMesh(id, x, y, 1, .5, .5, .5, true, true);
+  id++; x++;
+  publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 0");
+  id++;
+  publishMesh(id, x, y, 1, .5, .5, 0, true, true);
   id++; x++;
 
   y++; x = 0;
 
-  publishMesh( id, x, y, 1, 1, 1, 1, false, true);
+  publishText(id, x - 1, y, "mesh, use_embedded_materials = false");
+  id++;
+  publishMesh(id, x, y, 0, 0, 0, 0, false, true);
+  id++; x++;
+  publishMesh(id, x, y, 1, 1, 1, 1, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, .5, false, true);
+  publishMesh(id, x, y, 1, 1, 1, .5, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, 0, false, true);
+  publishMesh(id, x, y, 1, 1, 1, 0, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 1, false, true);
+  publishMesh(id, x, y, 1, 0, 0, 1, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, .5, false, true);
+  publishMesh(id, x, y, 1, 0, 0, .5, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 0, false, true);
+  publishMesh(id, x, y, 1, 0, 0, 0, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 1, false, true);
+  publishMesh(id, x, y, 1, .5, .5, 1, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, .5, false, true);
+  publishMesh(id, x, y, 1, .5, .5, .5, false, true);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 0, false, true);
+  publishMesh(id, x, y, 1, .5, .5, 0, false, true);
   id++; x++;
 
   y++; x = 0;
 
-  publishMesh( id, x, y, 1, 1, 1, 1, true, false);
+  publishText(id, x - 1, y, "sphere, use_embedded_materials = true");
+  id++;
+  publishMesh(id, x, y, 0, 0, 0, 0, true, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 1, 1, 1, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, .5, true, false);
+  publishMesh(id, x, y, 1, 1, 1, .5, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, 1, 1, 0, true, false);
+  publishMesh(id, x, y, 1, 1, 1, 0, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 1, true, false);
+  publishMesh(id, x, y, 1, 0, 0, 1, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, .5, true, false);
+  publishMesh(id, x, y, 1, 0, 0, .5, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, 0, 0, 0, true, false);
+  publishMesh(id, x, y, 1, 0, 0, 0, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 1, true, false);
+  publishMesh(id, x, y, 1, .5, .5, 1, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, .5, true, false);
+  publishMesh(id, x, y, 1, .5, .5, .5, true, false);
   id++; x++;
-  publishMesh( id, x, y, 1, .5, .5, 0, true, false);
+  publishMesh(id, x, y, 1, .5, .5, 0, true, false);
   id++; x++;
 
   y++; x = 0;
 
-  publishMesh( id, x, y, 0, 0, 0, 0, true, true);
+  publishText(id, x - 1, y, "sphere, use_embedded_materials = false");
+  id++;
+  publishMesh(id, x, y, 0, 0, 0, 0, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 1, 1, 1, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 1, 1, .5, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 1, 1, 0, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 0, 0, 1, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 0, 0, .5, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, 0, 0, 0, false, false);
   id++; x++;
+  publishMesh(id, x, y, 1, .5, .5, 1, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, .5, .5, .5, false, false);
+  id++; x++;
+  publishMesh(id, x, y, 1, .5, .5, 0, false, false);
+  id++; x++;
+}
 
-  ++counter;
+void publishCallback(const ros::TimerEvent&)
+{
+  return publishMeshes();
 }
 
 int main(int argc, char** argv)
@@ -121,10 +213,23 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "mesh_marker_test");
   ros::NodeHandle n;
 
-  g_marker_pub = n.advertise<visualization_msgs::Marker> ("mesh_markers", 0);
-  ros::Timer publish_timer = n.createTimer(ros::Duration(1), publishCallback);
+  bool latch_only = false;
+  if (argc == 2) {
+    if (std::string(argv[1]) == "--latch-only") {
+      latch_only = true;
+    }
+  }
+
+  g_marker_pub = n.advertise<visualization_msgs::Marker>("mesh_markers", 0, /*latch*/ latch_only);
+
 
-  ros::Duration(0.1).sleep();
+  ros::Timer publish_timer;
+  if (latch_only) {
+    ros::Duration(1.0).sleep();
+    publishMeshes();
+  } else {
+    publish_timer = n.createTimer(ros::Duration(1), publishCallback);
+  }
 
   ros::spin();
 }