diff --git a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
index bf6eef012cf7e9795c3dafc9bddfb34d267ca9b3..4dd92f32f02017fb6c3491b080724cd4af8b722d 100644
--- a/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
+++ b/road_description/urdf/circuits/full/trafficlights_extra_example.xacro
@@ -10,7 +10,7 @@
  
   <xacro:trafficlight name="semaphore_roundabout1"
                       parent="$(arg parent)"
-                      tag_dae="alvar2"
+                      tag_dae="alvar0"
                       light_color="green"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -19,7 +19,7 @@
   
   <xacro:trafficlight name="semaphore_roundabout2"
                       parent="$(arg parent)"
-                      tag_dae="alvar2"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -29,7 +29,7 @@
   
   <xacro:trafficlight name="semaphore_intersection1"
                       parent="$(arg parent)"
-                      tag_dae="alvar2"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -38,7 +38,7 @@
   
   <xacro:trafficlight name="semaphore_intersection2"
                       parent="$(arg parent)"
-                      tag_dae="alvar2"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -47,7 +47,7 @@
   
   <xacro:trafficlight name="semaphore_intersection3"
                       parent="$(arg parent)"
-                      tag_dae="alvar2"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -63,7 +63,7 @@
   
   <xacro:signal name="signal_right1"
                 parent="$(arg parent)"
-                tag_dae="alvar4"
+                tag_dae="alvar2"
                 signal_dae="arrow_right">
     <origin xyz="1.36 -3.73 0" rpy="0 0 ${-2*PI/6}"/>
   </xacro:signal>
diff --git a/road_description/urdf/circuits/test/trafficlights_fixed.xacro b/road_description/urdf/circuits/test/trafficlights_fixed.xacro
index c7328836f03818c1bc73467d17952f11fcfc8241..3b170d6f49c3ad005a065b612fbc72e0ad8d2a11 100644
--- a/road_description/urdf/circuits/test/trafficlights_fixed.xacro
+++ b/road_description/urdf/circuits/test/trafficlights_fixed.xacro
@@ -9,36 +9,46 @@
   
   <xacro:trafficlight name="trafficlight0"
                       parent="$(arg parent)"
+                      tag_dae="alvar0"
                       light_color="green"
-                      light_material="Gazebo/GreenGlow">
+                      light_material="Gazebo/RedGlow"
+                      light_material2="Gazebo/GreenGlow">
     <origin xyz="1.0 -0.5 0" rpy="0 0 ${PI}"/>
   </xacro:trafficlight>
   
   <xacro:trafficlight name="trafficlight1"
                       parent="$(arg parent)"
+                      tag_dae="alvar0"
                       light_color="green"
-                      light_material="Gazebo/GreenGlow">
+                      light_material="Gazebo/GreenGlow"
+                      light_material2="Gazebo/GreenGlow">
     <origin xyz="2.5 -2.5 0" rpy="0 0 ${PI}"/>
   </xacro:trafficlight>
   
   <xacro:trafficlight name="trafficlight2"
                       parent="$(arg parent)"
+                      tag_dae="alvar0"
                       light_color="green"
-                      light_material="Gazebo/GreenGlow">
+                      light_material="Gazebo/RedGlow"
+                      light_material2="Gazebo/GreenGlow">
     <origin xyz="-2.5 -1.5 0" rpy="0 0 0"/>
   </xacro:trafficlight>
   
   <xacro:trafficlight name="trafficlight3"
                       parent="$(arg parent)"
+                      tag_dae="alvar0"
                       light_color="green"
-                      light_material="Gazebo/GreenGlow">
+                      light_material="Gazebo/GreenGlow"
+                      light_material2="Gazebo/GreenGlow">
     <origin xyz="-0.5 -5.5 0" rpy="0 0 0"/>
   </xacro:trafficlight>
   
   <xacro:trafficlight name="trafficlight4"
                       parent="$(arg parent)"
+                      tag_dae="alvar0"
                       light_color="green"
-                      light_material="Gazebo/GreenGlow">
+                      light_material="Gazebo/RedGlow"
+                      light_material2="Gazebo/GreenGlow">
     <origin xyz="-1.5 -6.5 0" rpy="0 0 ${PI}"/>
   </xacro:trafficlight>