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