Need help to spawn multiple robots

Hi, I am studying ROS with Kuka Kr6r900sixx through this (
and I also saw this Youtube Video :

when I started to spawn two kuka robot , there is two issues broke out.

first, I can’t find my (namespace)/link 1,2,3,4 …

I think this issue came from “robot_state_publisher” can not read tf

‘Tried to advertise a service that is already advertised in this node
[/controller_manager/reload_controller_libraries]’ error occur when I start my start.launch

here is my source code, no audit just refer and use upload git link kuka sources



<?xml version="1.0" encoding="UTF-8"?>
<arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />

<arg name = "robot_name" />
<arg name = "x" default ="0.0" />
<arg name = "y" default ="0.0" />
<arg name = "z" default ="0.0" />
<arg name = "roll" default ="0.0" />
<arg name = "pitch" default ="0.0" />
<arg name = "yaw" default ="0.0" />

<!-- remap topics to conform to ROS-I specifications -->
<remap from="$(arg robot_name)/arm_controller/follow_joint_trajectory" to="$(arg robot_name)/joint_trajectory_action" />
<remap from="$(arg robot_name)/arm_controller/state" to="$(arg robot_name)/feedback_states" />
<remap from="$(arg robot_name)/arm_controller/command" to="$(arg robot_name)/joint_path_command"/>
<!-- urdf xml robot description loaded on the Parameter Server, converting the xacro into a proper urdf file-->
<!-- include file="$(find kuka_kr6_gazebo)/launch/load_kr6r900sixx.launch" /-->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr6_gazebo)/urdf/kuka_kr6r900sixx.xacro'" />

<node name="spawn_gazebo_model" 
        -param robot_description
        -model $(arg robot_name) 
        -x $(arg x) 
        -y $(arg y) 
        -z $(arg z) 
        -R $(arg roll) 
        -P $(arg pitch)
        -Y $(arg yaw) 
        " />

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"

  <!-- init and start Gazebo ros_control interface -->
  <include file="$(find kuka_kr6_gazebo)/launch/kr6r900sixx_control.launch"/>

pz,help if you now about this issue… thanks…


Spawning multiple robots is very delicate in ROS1 becaus eyou have to be sure that there are ot repetaed names nodes and that the TFs are publishing with its namespace and that the ones that read them know which name to get it from.Its a matter of going over and start from 1 robot nd then add incrementally the second.